move uavcan from modules to drivers

2026-10-23 02:43:33 +08:00 · 2018-12-04 01:06:54 -05:00
parent bbab66d974
commit 75b2053243
109 changed files with 84 additions and 71 deletions
@@ -0,0 +1,82 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_config.h>
+
+#include <drivers/device/device.h>
+
+/**
+ * @file uavcan.hpp
+ *
+ * Public header for the UAVCAN module
+ *
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ * @author David Sidrane <david_s5@nscdg.com>
+ * @author Holger Steinhaus <holger@steinhaus-home.de>
+ */
+
+// firmware paths
+#define UAVCAN_MAX_PATH_LENGTH (128 + 40)
+#define UAVCAN_FIRMWARE_PATH   "/fs/microsd/fw"
+#define UAVCAN_ROMFS_FW_PATH   "/etc/firmware/uavcan"
+#define UAVCAN_ROMFS_FW_PREFIX "_"
+
+// logging
+#define UAVCAN_NODE_DB_PATH "/fs/microsd/uavcan.db"
+#define UAVCAN_LOG_FILE     UAVCAN_NODE_DB_PATH"/trace.log"
+
+// device files
+// TODO: split IOCTL interface in ESC and node related functionality, then change UAVCAN_DEVICE_PATH to "/dev/uavcan/node"
+#define UAVCAN_DEVICE_PATH     "/dev/uavcan/esc"
+#define UAVCAN_ESC_DEVICE_PATH "/dev/uavcan/esc"
+
+// ioctl interface
+#define _UAVCAN_IOC(_n)               (_IOC(_UAVCAN_IOCBASE, _n))
+#define _UAVCAN_IOCBASE               (0x4000)                        // IOCTL base for module UAVCAN
+/*
+ * Query if node identification is in progress. Returns:
+ *      EINVAL - not applicable in the current operating mode
+ *      ETIME  - network discovery complete
+ *      OK (0) - network discovery in progress
+ */
+#define UAVCAN_IOCG_NODEID_INPROGRESS _UAVCAN_IOC(1)
+/*
+ * Set hardpoint command. Accepts a pointer to uavcan::equipment::hardpoint::Command; returns nothing.
+ * The pointer may be invalidated once the call returns.
+ */
+#define UAVCAN_IOCS_HARDPOINT_SET       _UAVCAN_IOC(10)
+
+// public prototypes
+extern "C" __EXPORT int uavcan_main(int argc, char *argv[]);