Adding px4esc-v1 board and bootloader

src/modules/uavcanesc/.gitignore

@@ -0,0 +1 @@
+./dsdlc_generated/

src/modules/uavcanesc/CMakeLists.txt

@@ -0,0 +1,84 @@
+############################################################################
+#
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")
+set(UAVCAN_PLATFORM stm32 CACHE STRING "uavcan platform")
+
+string(TOUPPER "${OS}" OS_UPPER)
+add_definitions(
+		-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
+		-DUAVCAN_MAX_NETWORK_SIZE_HINT=16
+		-DUAVCAN_MEM_POOL_BLOCK_SIZE=48
+		-DUAVCAN_NO_ASSERTIONS
+		-DUAVCAN_PLATFORM=stm32
+		-DUAVCAN_STM32_${OS_UPPER}=1
+		-DUAVCAN_STM32_NUM_IFACES=1
+		-DUAVCAN_STM32_TIMER_NUMBER=2
+		-DUAVCAN_USE_CPP03=ON
+		-DUAVCAN_USE_EXTERNAL_SNPRINT
+		-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
+		-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
+		-DHW_UAVCAN_NAME=${uavcanblid_name}
+		-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
+		-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
+		)
+
+px4_share_subdirectory(RELDIR ../uavcan/libuavcan ARGS EXCLUDE_FROM_ALL)
+add_dependencies(uavcan platforms__nuttx)
+
+include_directories(../../drivers/bootloaders/include)
+include_directories(../uavcan/libuavcan/libuavcan/include)
+include_directories(../uavcan/libuavcan/libuavcan/include/dsdlc_generated)
+include_directories(../uavcan/libuavcan/libuavcan_drivers/posix/include)
+include_directories(../uavcan/libuavcan/libuavcan_drivers/stm32/driver/include)
+include_directories(../systemlib/flashparams)
+
+px4_add_module(
+	MODULE modules__uavcanesc
+	MAIN uavcanesc
+	STACK_MAIN 4096
+	COMPILE_FLAGS
+		-Wno-deprecated-declarations
+		-O3
+	SRCS
+	uavcanesc_main.cpp
+    indication_controller.cpp
+    led.cpp
+    uavcanesc_params.c
+    ../systemlib/flashparams/flashparams.c
+    ../systemlib/flashparams/flashfs.c
+
+	DEPENDS
+		platforms__common
+		uavcan
+	)

src/modules/uavcanesc/commands/cfg/CMakeLists.txt

@@ -0,0 +1,48 @@
+############################################################################
+#
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__uavcanesc__commands__cfg
+	MAIN cfg
+	STACK_MAIN 1024
+	COMPILE_FLAGS
+		-Wno-deprecated-declarations
+		-O3
+	SRCS
+	 esc_cfg.cpp
+
+	DEPENDS
+		platforms__common
+	)
+
+## vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/modules/uavcanesc/commands/cfg/esc_cfg.cpp

@@ -0,0 +1,58 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ *   Author: David Sidrane<david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#include <px4_config.h>
+#include <px4_log.h>
+#include <stdint.h>
+#include <cstdlib>
+
+#include "esc_cfg.hpp"
+
+
+static void print_usage()
+{
+	PX4_INFO("usage: \n"
+		 "\tcfg {yada|yada|yada}");
+}
+
+extern "C" __EXPORT int cfg_main(int argc, char *argv[]);
+int cfg_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		print_usage();
+		::exit(1);
+	}
+
+	print_usage();
+	::exit(1);
+}

src/modules/uavcanesc/commands/cfg/esc_cfg.hpp

@@ -0,0 +1,33 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ *   Author: David Sidrane<david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/

src/modules/uavcanesc/commands/dc/CMakeLists.txt

@@ -0,0 +1,48 @@
+############################################################################
+#
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__uavcanesc__commands__dc
+	MAIN dc
+	STACK_MAIN 1024
+	COMPILE_FLAGS
+		-Wno-deprecated-declarations
+		-O3
+	SRCS
+	 esc_dc.cpp
+
+	DEPENDS
+		platforms__common
+	)
+
+## vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/modules/uavcanesc/commands/dc/esc_dc.cpp

@@ -0,0 +1,58 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ *   Author: David Sidrane<david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#include <px4_config.h>
+#include <px4_log.h>
+#include <stdint.h>
+#include <cstdlib>
+
+#include "esc_dc.hpp"
+
+
+static void print_usage()
+{
+	PX4_INFO("usage: \n"
+		 "\tdc {yada|yada|yada}");
+}
+
+extern "C" __EXPORT int dc_main(int argc, char *argv[]);
+int dc_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		print_usage();
+		::exit(1);
+	}
+
+	print_usage();
+	::exit(1);
+}

src/modules/uavcanesc/commands/dc/esc_dc.hpp

@@ -0,0 +1,33 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ *   Author: David Sidrane<david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/

src/modules/uavcanesc/commands/rpm/CMakeLists.txt

@@ -0,0 +1,48 @@
+############################################################################
+#
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__uavcanesc__commands__rpm
+	MAIN rpm
+	STACK_MAIN 1024
+	COMPILE_FLAGS
+		-Wno-deprecated-declarations
+		-O3
+	SRCS
+	 esc_rpm.cpp
+
+	DEPENDS
+		platforms__common
+	)
+
+## vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/modules/uavcanesc/commands/rpm/esc_rpm.cpp

@@ -0,0 +1,58 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ *   Author: David Sidrane<david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#include <px4_config.h>
+#include <px4_log.h>
+#include <stdint.h>
+#include <cstdlib>
+
+#include "esc_rpm.hpp"
+
+
+static void print_usage()
+{
+	PX4_INFO("usage: \n"
+		 "\trpm {yada|yada|yada}");
+}
+
+extern "C" __EXPORT int rpm_main(int argc, char *argv[]);
+int rpm_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		print_usage();
+		::exit(1);
+	}
+
+	print_usage();
+	::exit(1);
+}

src/modules/uavcanesc/commands/rpm/esc_rpm.hpp

@@ -0,0 +1,33 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ *   Author: David Sidrane<david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/

src/modules/uavcanesc/commands/selftest/CMakeLists.txt

@@ -0,0 +1,48 @@
+############################################################################
+#
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__uavcanesc__commands__selftest
+	MAIN selftest
+	STACK_MAIN 1024
+	COMPILE_FLAGS
+		-Wno-deprecated-declarations
+		-O3
+	SRCS
+	 esc_selftest.cpp
+
+	DEPENDS
+		platforms__common
+	)
+
+## vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/modules/uavcanesc/commands/selftest/esc_selftest.cpp

@@ -0,0 +1,58 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ *   Author: David Sidrane<david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#include <px4_config.h>
+#include <px4_log.h>
+#include <stdint.h>
+#include <cstdlib>
+
+#include "esc_selftest.hpp"
+
+
+static void print_usage()
+{
+	PX4_INFO("usage: \n"
+		 "\tselftest {yada|yada|yada}");
+}
+
+extern "C" __EXPORT int selftest_main(int argc, char *argv[]);
+int selftest_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		print_usage();
+		::exit(1);
+	}
+
+	print_usage();
+	::exit(1);
+}

src/modules/uavcanesc/commands/selftest/esc_selftest.hpp

@@ -0,0 +1,33 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ *   Author: David Sidrane<david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/

src/modules/uavcanesc/commands/stat/CMakeLists.txt

@@ -0,0 +1,49 @@
+############################################################################
+#
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__uavcanesc__commands__stat
+	MAIN cfg
+	STACK_MAIN 1024
+	COMPILE_FLAGS
+		-Wno-deprecated-declarations
+		-O3
+	SRCS
+	 esc_stat.cpp
+
+	DEPENDS
+		platforms__common
+
+	)
+
+## vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/modules/uavcanesc/commands/stat/esc_stat.cpp

@@ -0,0 +1,58 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ *   Author: David Sidrane<david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#include <px4_config.h>
+#include <px4_log.h>
+#include <stdint.h>
+#include <cstdlib>
+
+#include "esc_stat.hpp"
+
+
+static void print_usage()
+{
+	PX4_INFO("usage: \n"
+		 "\tstat {yada|yada|yada}");
+}
+
+extern "C" __EXPORT int stat_main(int argc, char *argv[]);
+int stat_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		print_usage();
+		::exit(1);
+	}
+
+	print_usage();
+	::exit(1);
+}

src/modules/uavcanesc/commands/stat/esc_stat.hpp

@@ -0,0 +1,33 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ *   Author: David Sidrane<david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/

src/modules/uavcanesc/indication_controller.cpp

@@ -0,0 +1,86 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
+ *   Author: Pavel Kirienko <pavel.kirienko@gmail.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <systemlib/systemlib.h>
+#include "indication_controller.hpp"
+#include <uavcan/equipment/indication/LightsCommand.hpp>
+#include "led.hpp"
+
+namespace
+{
+unsigned self_light_index = 0;
+
+void cb_light_command(const uavcan::ReceivedDataStructure<uavcan::equipment::indication::LightsCommand> &msg)
+{
+	uavcan::uint32_t red = 0;
+	uavcan::uint32_t green = 0;
+	uavcan::uint32_t blue = 0;
+
+	for (auto &cmd : msg.commands) {
+		if (cmd.light_id == self_light_index) {
+			using uavcan::equipment::indication::RGB565;
+
+			red = uavcan::uint32_t(float(cmd.color.red) *
+					       (255.0F / float(RGB565::FieldTypes::red::max())) + 0.5F);
+
+			green = uavcan::uint32_t(float(cmd.color.green) *
+						 (255.0F / float(RGB565::FieldTypes::green::max())) + 0.5F);
+
+			blue = uavcan::uint32_t(float(cmd.color.blue) *
+						(255.0F / float(RGB565::FieldTypes::blue::max())) + 0.5F);
+
+			red   = uavcan::min<uavcan::uint32_t>(red, 0xFFU);
+			green = uavcan::min<uavcan::uint32_t>(green, 0xFFU);
+			blue  = uavcan::min<uavcan::uint32_t>(blue, 0xFFU);
+		}
+	}
+}
+}
+
+int init_indication_controller(uavcan::INode &node)
+{
+	static uavcan::Subscriber<uavcan::equipment::indication::LightsCommand> sub_light(node);
+
+	self_light_index = 0;
+
+	int res = 0;
+
+	res = sub_light.start(cb_light_command);
+
+	if (res != 0) {
+		return res;
+	}
+
+	return 0;
+}

src/modules/uavcanesc/indication_controller.hpp

@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
+ *   Author: Pavel Kirienko <pavel.kirienko@gmail.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <uavcan_stm32/uavcan_stm32.hpp>
+
+
+int init_indication_controller(uavcan::INode &node);

src/modules/uavcanesc/led.cpp

@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ *   Author: David Sidrane<david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#include <nuttx/config.h>
+
+#include <stdint.h>
+
+#include <arch/board/board.h>
+#include "chip/stm32_tim.h"
+
+
+#include "led.hpp"
+
+void rgb_led(int r, int g , int b, int freqs)
+{
+
+	long fosc = 72000000;
+	long prescale = 2048;
+	long p1s = fosc / prescale;
+	long p0p5s  = p1s / 2;
+	stm32_tim_channel_t mode = (stm32_tim_channel_t)(STM32_TIM_CH_OUTPWM | STM32_TIM_CH_POLARITY_NEG);
+	static struct stm32_tim_dev_s *tim = 0;
+
+	if (tim == 0) {
+		tim = stm32_tim_init(3);
+		STM32_TIM_SETMODE(tim, STM32_TIM_MODE_UP);
+		STM32_TIM_SETCLOCK(tim, p1s - 8);
+		STM32_TIM_SETPERIOD(tim, p1s);
+		STM32_TIM_SETCOMPARE(tim, 1, 0);
+		STM32_TIM_SETCOMPARE(tim, 2, 0);
+		STM32_TIM_SETCOMPARE(tim, 3, 0);
+		STM32_TIM_SETCHANNEL(tim, 1, mode);
+		STM32_TIM_SETCHANNEL(tim, 2, mode);
+		STM32_TIM_SETCHANNEL(tim, 3, mode);
+	}
+
+	long p  = freqs == 0 ? p1s : p1s / freqs;
+	STM32_TIM_SETPERIOD(tim, p);
+
+	p  = freqs == 0 ? p1s + 1 : p0p5s / freqs;
+
+	STM32_TIM_SETCOMPARE(tim, 1, (r * p) / 255);
+	STM32_TIM_SETCOMPARE(tim, 2, (g * p) / 255);
+	STM32_TIM_SETCOMPARE(tim, 3, (b * p) / 255);
+}

src/modules/uavcanesc/led.hpp

@@ -0,0 +1,38 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ *   Author: David Sidrane<david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#include <systemlib/visibility.h>
+
+__BEGIN_DECLS
+void rgb_led(int r, int g , int b, int freqs);
+__END_DECLS

src/modules/uavcanesc/nshterm/CMakeLists.txt

@@ -0,0 +1,48 @@
+############################################################################
+#
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__uavcanesc__nshterm
+	MAIN nshterm
+	STACK_MAIN 1500
+	COMPILE_FLAGS
+		-Wno-deprecated-declarations
+		-Os
+	SRCS
+	 nshterm.c
+    PRIORITY "SCHED_PRIORITY_DEFAULT-30"
+	DEPENDS
+		platforms__common
+	)
+
+## vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/modules/uavcanesc/nshterm/nshterm.c

@@ -0,0 +1,128 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Author: Andrew Tridgell
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file nshterm.c
+ * start a nsh terminal on a given port. This can be useful for error
+ * handling in startup scripts to start a nsh shell on /dev/ttyACM0
+ * for diagnostics
+ */
+
+#include <px4_config.h>
+#include <termios.h>
+#include <stdbool.h>
+#include <stdio.h>
+#include <stdarg.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <nshlib/nshlib.h>
+#include <fcntl.h>
+#include <systemlib/err.h>
+#include <drivers/drv_hrt.h>
+
+__EXPORT int nshterm_main(int argc, char *argv[]);
+
+int
+nshterm_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		printf("Usage: nshterm <device>\n");
+		exit(1);
+	}
+
+	unsigned retries = 0;
+	int fd = -1;
+
+	/* back off 800 ms to avoid running into the USB setup timing */
+	while (hrt_absolute_time() < 800U * 1000U) {
+		usleep(50000);
+	}
+
+	/* try to bring up the console - stop doing so if the system gets armed */
+	while (true) {
+
+		/* the retries are to cope with the behaviour of /dev/ttyACM0 */
+		/* which may not be ready immediately. */
+		fd = open(argv[1], O_RDWR);
+
+		if (fd != -1) {
+			break;
+		}
+
+		usleep(100000);
+		retries++;
+	}
+
+	if (fd == -1) {
+		perror(argv[1]);
+		exit(1);
+	}
+
+	/* set up the serial port with output processing */
+
+	/* Try to set baud rate */
+	struct termios uart_config;
+	int termios_state;
+
+	/* Back up the original uart configuration to restore it after exit */
+	if ((termios_state = tcgetattr(fd, &uart_config)) < 0) {
+		warnx("ERR get config %s: %d\n", argv[1], termios_state);
+		close(fd);
+		return -1;
+	}
+
+	/* Set ONLCR flag (which appends a CR for every LF) */
+	uart_config.c_oflag |= (ONLCR | OPOST);
+
+	if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) {
+		warnx("ERR set config %s\n", argv[1]);
+		close(fd);
+		return -1;
+	}
+
+	/* setup standard file descriptors */
+	close(0);
+	close(1);
+	close(2);
+	dup2(fd, 0);
+	dup2(fd, 1);
+	dup2(fd, 2);
+
+	nsh_consolemain(0, NULL);
+
+	close(fd);
+
+	return OK;
+}

src/modules/uavcanesc/uavcanesc_main.cpp

@@ -0,0 +1,543 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *   Author: Pavel Kirienko <pavel.kirienko@gmail.com>
+ *           David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+
+#include <px4_config.h>
+#include <px4_log.h>
+
+#include <cstdlib>
+#include <cstring>
+#include <fcntl.h>
+#include <systemlib/err.h>
+#include <systemlib/systemlib.h>
+#include <systemlib/param/param.h>
+#include <systemlib/mixer/mixer.h>
+#include <systemlib/board_serial.h>
+#include <systemlib/scheduling_priorities.h>
+#include <version/version.h>
+#include <arch/board/board.h>
+#include <arch/chip/chip.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_pwm_output.h>
+
+#include "uavcanesc_main.hpp"
+#include "led.hpp"
+#include "indication_controller.hpp"
+
+#include "boot_app_shared.h"
+
+/**
+ *
+ * Implements basic functionality of UAVCAN esc.
+ */
+
+/*
+ * This is the AppImageDescriptor used
+ * by the make_can_boot_descriptor.py tool to set
+ * the application image's descriptor so that the
+ * uavcan bootloader has the ability to validate the
+ * image crc, size etc of this application
+*/
+
+boot_app_shared_section app_descriptor_t AppDescriptor = {
+	.signature = {APP_DESCRIPTOR_SIGNATURE},
+	.image_crc = 0,
+	.image_size = 0,
+	.vcs_commit = 0,
+	.major_version = APP_VERSION_MAJOR,
+	.minor_version = APP_VERSION_MINOR,
+	.reserved = {0xff , 0xff , 0xff , 0xff , 0xff , 0xff }
+};
+
+/*
+ * UavcanNode
+ */
+UavcanEsc *UavcanEsc::_instance;
+
+UavcanEsc::UavcanEsc(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock) :
+	CDev("uavcanesc", UAVCAN_DEVICE_PATH),
+	active_bitrate(0),
+	_node(can_driver, system_clock),
+	_node_mutex(),
+	_fw_update_listner(_node),
+	_reset_timer(_node)
+{
+	const int res = pthread_mutex_init(&_node_mutex, nullptr);
+
+	if (res < 0) {
+		std::abort();
+	}
+
+}
+
+UavcanEsc::~UavcanEsc()
+{
+	if (_task != -1) {
+		/* tell the task we want it to go away */
+		_task_should_exit = true;
+
+		unsigned i = 10;
+
+		do {
+			/* wait 5ms - it should wake every 10ms or so worst-case */
+			::usleep(5000);
+
+			/* if we have given up, kill it */
+			if (--i == 0) {
+				task_delete(_task);
+				break;
+			}
+
+		} while (_task != -1);
+	}
+
+	_instance = nullptr;
+
+}
+
+int UavcanEsc::start(uavcan::NodeID node_id, uint32_t bitrate)
+{
+
+
+	if (_instance != nullptr) {
+		PX4_WARN("Already started");
+		return -1;
+	}
+
+	/*
+	 * GPIO config.
+	 * Forced pull up on CAN2 is required for Pixhawk v1 where the second interface lacks a transceiver.
+	 * If no transceiver is connected, the RX pin will float, occasionally causing CAN controller to
+	 * fail during initialization.
+	 */
+	px4_arch_configgpio(GPIO_CAN1_RX);
+	px4_arch_configgpio(GPIO_CAN1_TX);
+#if defined(GPIO_CAN2_RX)
+	px4_arch_configgpio(GPIO_CAN2_RX | GPIO_PULLUP);
+	px4_arch_configgpio(GPIO_CAN2_TX);
+#endif
+	/*
+	 * CAN driver init
+	 */
+	static CanInitHelper can;
+	static bool can_initialized = false;
+
+	if (!can_initialized) {
+		const int can_init_res = can.init(bitrate);
+
+		if (can_init_res < 0) {
+			PX4_WARN("CAN driver init failed %i", can_init_res);
+			return can_init_res;
+		}
+
+		can_initialized = true;
+	}
+
+	/*
+	 * Node init
+	 */
+	_instance = new UavcanEsc(can.driver, uavcan_stm32::SystemClock::instance());
+
+	if (_instance == nullptr) {
+		PX4_WARN("Out of memory");
+		return -1;
+	}
+
+
+	const int node_init_res = _instance->init(node_id);
+
+	if (node_init_res < 0) {
+		delete _instance;
+		_instance = nullptr;
+		PX4_WARN("Node init failed %i", node_init_res);
+		return node_init_res;
+	}
+
+
+	/* Keep the bit rate for reboots on BenginFirmware updates */
+
+	_instance->active_bitrate = bitrate;
+
+	/*
+	 * Start the task. Normally it should never exit.
+	 */
+	static auto run_trampoline = [](int, char *[]) {return UavcanEsc::_instance->run();};
+	_instance->_task = px4_task_spawn_cmd("uavcanesc", SCHED_DEFAULT, SCHED_PRIORITY_ACTUATOR_OUTPUTS, StackSize,
+					      static_cast<main_t>(run_trampoline), nullptr);
+
+	if (_instance->_task < 0) {
+		PX4_WARN("start failed: %d", errno);
+		return -errno;
+	}
+
+	return OK;
+}
+
+void UavcanEsc::fill_node_info()
+{
+	/* software version */
+	uavcan::protocol::SoftwareVersion swver;
+
+	// Extracting the first 8 hex digits of FW_GIT and converting them to int
+	char fw_git_short[9] = {};
+	std::memmove(fw_git_short, FW_GIT, 8);
+	assert(fw_git_short[8] == '\0');
+	char *end = nullptr;
+	swver.vcs_commit = std::strtol(fw_git_short, &end, 16);
+	swver.optional_field_flags |= swver.OPTIONAL_FIELD_FLAG_VCS_COMMIT;
+	swver.major = AppDescriptor.major_version;
+	swver.minor = AppDescriptor.minor_version;
+	swver.image_crc = AppDescriptor.image_crc;
+
+	PX4_WARN("SW version vcs_commit: 0x%08x", unsigned(swver.vcs_commit));
+
+	_node.setSoftwareVersion(swver);
+
+	/* hardware version */
+	uavcan::protocol::HardwareVersion hwver;
+
+	hwver.major = HW_VERSION_MAJOR;
+	hwver.minor = HW_VERSION_MINOR;
+
+	uint8_t udid[12] = {};  // Someone seems to love magic numbers
+	get_board_serial(udid);
+	uavcan::copy(udid, udid + sizeof(udid), hwver.unique_id.begin());
+
+	_node.setHardwareVersion(hwver);
+}
+
+static void cb_reboot(const uavcan::TimerEvent &)
+{
+	px4_systemreset(false);
+
+}
+
+void UavcanEsc::cb_beginfirmware_update(const uavcan::ReceivedDataStructure<UavcanEsc::BeginFirmwareUpdate::Request>
+					&req,
+					uavcan::ServiceResponseDataStructure<UavcanEsc::BeginFirmwareUpdate::Response> &rsp)
+{
+	static bool inprogress = false;
+
+	rsp.error = rsp.ERROR_UNKNOWN;
+
+	if (req.image_file_remote_path.path.size()) {
+		rsp.error = rsp.ERROR_IN_PROGRESS;
+
+		if (!inprogress) {
+			inprogress = true;
+			bootloader_app_shared_t shared;
+			shared.bus_speed = active_bitrate;
+			shared.node_id = _node.getNodeID().get();
+			bootloader_app_shared_write(&shared, App);
+			rgb_led(255, 128 , 0 , 5);
+			_reset_timer.setCallback(cb_reboot);
+			_reset_timer.startOneShotWithDelay(uavcan::MonotonicDuration::fromMSec(1000));
+			rsp.error = rsp.ERROR_OK;
+		}
+	}
+}
+
+int UavcanEsc::init(uavcan::NodeID node_id)
+{
+	int ret = -1;
+
+	// Do regular cdev init
+	ret = CDev::init();
+
+	if (ret != OK) {
+		return ret;
+	}
+
+	_node.setName(HW_UAVCAN_NAME);
+
+	_node.setNodeID(node_id);
+
+	fill_node_info();
+
+	const int srv_start_res = _fw_update_listner.start(BeginFirmwareUpdateCallBack(this,
+				  &UavcanEsc::cb_beginfirmware_update));
+
+	if (srv_start_res < 0) {
+		return ret;
+	}
+
+	return _node.start();
+}
+
+
+/*
+ * Restart handler
+ */
+class RestartRequestHandler: public uavcan::IRestartRequestHandler
+{
+	bool handleRestartRequest(uavcan::NodeID request_source) override
+	{
+		::syslog(LOG_INFO, "UAVCAN: Restarting by request from %i\n", int(request_source.get()));
+		::usleep(20 * 1000 * 1000);
+		px4_systemreset(false);
+		return true; // Will never be executed BTW
+	}
+} restart_request_handler;
+
+void UavcanEsc::node_spin_once()
+{
+	const int spin_res = _node.spin(uavcan::MonotonicTime());
+
+	if (spin_res < 0) {
+		PX4_WARN("node spin error %i", spin_res);
+	}
+}
+
+/*
+  add a fd to the list of polled events. This assumes you want
+  POLLIN for now.
+ */
+int UavcanEsc::add_poll_fd(int fd)
+{
+	int ret = _poll_fds_num;
+
+	if (_poll_fds_num >= UAVCAN_NUM_POLL_FDS) {
+		errx(1, "uavcan: too many poll fds, exiting");
+	}
+
+	_poll_fds[_poll_fds_num] = ::pollfd();
+	_poll_fds[_poll_fds_num].fd = fd;
+	_poll_fds[_poll_fds_num].events = POLLIN;
+	_poll_fds_num += 1;
+	return ret;
+}
+
+
+int UavcanEsc::run()
+{
+
+	get_node().setRestartRequestHandler(&restart_request_handler);
+
+	while (init_indication_controller(get_node()) < 0) {
+		::syslog(LOG_INFO, "UAVCAN: Indication controller init failed\n");
+		::sleep(1);
+	}
+
+	(void)pthread_mutex_lock(&_node_mutex);
+
+	const unsigned PollTimeoutMs = 50;
+
+	const int busevent_fd = ::open(uavcan_stm32::BusEvent::DevName, 0);
+
+	if (busevent_fd < 0) {
+		PX4_WARN("Failed to open %s", uavcan_stm32::BusEvent::DevName);
+		_task_should_exit = true;
+	}
+
+	/* If we had an  RTC we would call uavcan_stm32::clock::setUtc()
+	* but for now we use adjustUtc with a correction of 0
+	*/
+//        uavcan_stm32::clock::adjustUtc(uavcan::UtcDuration::fromUSec(0));
+
+	_node.setModeOperational();
+
+	/*
+	 * This event is needed to wake up the thread on CAN bus activity (RX/TX/Error).
+	 * Please note that with such multiplexing it is no longer possible to rely only on
+	 * the value returned from poll() to detect whether actuator control has timed out or not.
+	 * Instead, all ORB events need to be checked individually (see below).
+	 */
+	add_poll_fd(busevent_fd);
+
+	while (!_task_should_exit) {
+		// Mutex is unlocked while the thread is blocked on IO multiplexing
+		(void)pthread_mutex_unlock(&_node_mutex);
+
+		const int poll_ret = ::poll(_poll_fds, _poll_fds_num, PollTimeoutMs);
+
+
+		(void)pthread_mutex_lock(&_node_mutex);
+
+		node_spin_once();  // Non-blocking
+
+
+		// this would be bad...
+		if (poll_ret < 0) {
+			PX4_ERR("poll error %d", errno);
+			continue;
+
+		} else {
+			// Do Something
+		}
+	}
+
+	teardown();
+	PX4_WARN("exiting.");
+
+	exit(0);
+}
+
+int
+UavcanEsc::teardown()
+{
+	return 0;
+}
+
+
+
+int
+UavcanEsc::ioctl(file *filp, int cmd, unsigned long arg)
+{
+	int ret = OK;
+
+	lock();
+
+	switch (cmd) {
+
+
+
+	default:
+		ret = -ENOTTY;
+		break;
+	}
+
+	unlock();
+
+	if (ret == -ENOTTY) {
+		ret = CDev::ioctl(filp, cmd, arg);
+	}
+
+	return ret;
+}
+
+void
+UavcanEsc::print_info()
+{
+	if (!_instance) {
+		PX4_WARN("not running, start first");
+	}
+
+	(void)pthread_mutex_lock(&_node_mutex);
+
+
+	(void)pthread_mutex_unlock(&_node_mutex);
+}
+
+/*
+ * App entry point
+ */
+static void print_usage()
+{
+	PX4_INFO("usage: \n"
+		 "\tuavcanesc {start|status|stop}");
+}
+
+extern "C" __EXPORT int uavcannode_start(int argc, char *argv[]);
+
+int uavcannode_start(int argc, char *argv[])
+{
+	// CAN bitrate
+	int32_t bitrate = 0;
+	// Node ID
+	int32_t node_id = 0;
+
+	// Did the bootloader auto baud and get a node ID Allocated
+
+	bootloader_app_shared_t shared;
+	int valid  = bootloader_app_shared_read(&shared, BootLoader);
+
+	if (valid == 0) {
+
+		bitrate = shared.bus_speed;
+		node_id = shared.node_id;
+
+		// Invalidate to prevent deja vu
+
+		bootloader_app_shared_invalidate();
+
+	} else {
+
+		// Node ID
+		(void)param_get(param_find("ESC_NODE_ID"), &node_id);
+		(void)param_get(param_find("ESC_BITRATE"), &bitrate);
+	}
+
+	if (node_id < 0 || node_id > uavcan::NodeID::Max || !uavcan::NodeID(node_id).isUnicast()) {
+		PX4_WARN("Invalid Node ID %i", node_id);
+		::exit(1);
+	}
+
+	// Start
+	PX4_WARN("Node ID %u, bitrate %u", node_id, bitrate);
+	int rv = UavcanEsc::start(node_id, bitrate);
+	::sleep(1);
+	return rv;
+}
+
+extern "C" __EXPORT int uavcanesc_main(int argc, char *argv[]);
+int uavcanesc_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		print_usage();
+		::exit(1);
+	}
+
+	if (!std::strcmp(argv[1], "start")) {
+
+		if (UavcanEsc::instance()) {
+			errx(1, "already started");
+		}
+
+		return uavcannode_start(argc, argv);
+	}
+
+	/* commands below require the app to be started */
+	UavcanEsc *const inst = UavcanEsc::instance();
+
+	if (!inst) {
+		PX4_ERR("application not running");
+		::exit(1);
+
+	}
+
+	if (!std::strcmp(argv[1], "status") || !std::strcmp(argv[1], "info")) {
+		inst->print_info();
+		::exit(0);
+	}
+
+	if (!std::strcmp(argv[1], "stop")) {
+		delete inst;
+		::exit(0);
+	}
+
+	print_usage();
+	::exit(1);
+}

src/modules/uavcanesc/uavcanesc_main.hpp

@@ -0,0 +1,149 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *   Author: Pavel Kirienko <pavel.kirienko@gmail.com>
+ *           David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_config.h>
+#include <uavcan_stm32/uavcan_stm32.hpp>
+#include <drivers/device/device.h>
+#include <uavcan/protocol/file/BeginFirmwareUpdate.hpp>
+#include <uavcan/node/timer.hpp>
+/**
+ *
+ * Defines functionality of UAVCAN ESC node.
+ */
+
+#define NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN	1
+#define UAVCAN_DEVICE_PATH	"/dev/uavcan/esc"
+
+// we add two to allow for actuator_direct and busevent
+#define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+2)
+
+/**
+ * A UAVCAN node.
+ */
+class UavcanEsc : public device::CDev
+{
+	/*
+	 * This memory is reserved for uavcan to use as over flow for message
+	 * Coming from multiple sources that my not be considered at development
+	 * time.
+	 *
+	 * The call to getNumFreeBlocks will tell how many blocks there are
+	 * free -and multiply it times getBlockSize to get the number of bytes
+	 *
+	 */
+	static constexpr unsigned MemPoolSize        = 2048;
+
+	/*
+	 * This memory is reserved for uavcan to use for queuing CAN frames.
+	 * At 1Mbit there is approximately one CAN frame every 200 uS.
+	 * The number of buffers sets how long you can go without calling
+	 * node_spin_xxxx. Since our task is the only one running and the
+	 * driver will light the fd when there is a CAN frame we can nun with
+	 * a minimum number of buffers to conserver memory. Each buffer is
+	 * 32 bytes. So 5 buffers costs 160 bytes and gives us a maximum required
+	 * poll rate of ~1 mS
+	 *
+	 */
+	static constexpr unsigned RxQueueLenPerIface = 5;
+
+	/*
+	 * This memory is uses for the tasks stack size
+	 */
+
+	static constexpr unsigned StackSize          = 4096;
+
+public:
+	typedef uavcan::Node<MemPoolSize> Node;
+	typedef uavcan_stm32::CanInitHelper<RxQueueLenPerIface> CanInitHelper;
+	typedef uavcan::protocol::file::BeginFirmwareUpdate BeginFirmwareUpdate;
+
+	UavcanEsc(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock);
+
+	virtual		~UavcanEsc();
+
+	virtual int	ioctl(file *filp, int cmd, unsigned long arg);
+
+	static int	start(uavcan::NodeID node_id, uint32_t bitrate);
+
+	Node		&get_node() { return _node; }
+
+	int		teardown();
+
+	void		print_info();
+
+	static UavcanEsc *instance() { return _instance; }
+
+
+	/* The bit rate that can be passed back to the bootloader */
+
+	int32_t active_bitrate;
+
+
+private:
+	void		fill_node_info();
+	int		init(uavcan::NodeID node_id);
+	void		node_spin_once();
+	int		run();
+	int		add_poll_fd(int fd);			///< add a fd to poll list, returning index into _poll_fds[]
+
+
+	int			_task = -1;			///< handle to the OS task
+	bool			_task_should_exit = false;	///< flag to indicate to tear down the CAN driver
+
+	static UavcanEsc	*_instance;			///< singleton pointer
+	Node			_node;				///< library instance
+	pthread_mutex_t		_node_mutex;
+
+	pollfd			_poll_fds[UAVCAN_NUM_POLL_FDS] = {};
+	unsigned		_poll_fds_num = 0;
+
+	typedef uavcan::MethodBinder<UavcanEsc *,
+		void (UavcanEsc::*)(const uavcan::ReceivedDataStructure<UavcanEsc::BeginFirmwareUpdate::Request> &,
+				    uavcan::ServiceResponseDataStructure<UavcanEsc::BeginFirmwareUpdate::Response> &)>
+		BeginFirmwareUpdateCallBack;
+
+	uavcan::ServiceServer<BeginFirmwareUpdate, BeginFirmwareUpdateCallBack> _fw_update_listner;
+	void cb_beginfirmware_update(const uavcan::ReceivedDataStructure<UavcanEsc::BeginFirmwareUpdate::Request> &req,
+				     uavcan::ServiceResponseDataStructure<UavcanEsc::BeginFirmwareUpdate::Response> &rsp);
+
+public:
+
+	/* A timer used to reboot after the response is sent */
+
+	uavcan::TimerEventForwarder<void (*)(const uavcan::TimerEvent &)> _reset_timer;
+
+};

src/modules/uavcanesc/uavcanesc_params.c

@@ -0,0 +1,59 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <px4_config.h>
+#include <systemlib/param/param.h>
+
+/**
+ * UAVCAN Node ID.
+ *
+ * Read the specs at http://uavcan.org to learn more about Node ID.
+ *
+ * @min 1
+ * @max 125
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(ESC_NODE_ID, 120);
+
+/**
+ * UAVCAN CAN bus bitrate.
+ *
+ * @min 20000
+ * @max 1000000
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(ESC_BITRATE, 1000000);