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Fixed comments and code style of UAVCAN node

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This commit is contained in:
Lorenz Meier
2014-05-07 14:29:30 +02:00
parent de5bdbb863
commit 973b193261
3 changed files with 55 additions and 17 deletions
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src/modules/uavcan/uavcan_main.cpp
+32 -8
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@@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
* Author: Pavel Kirienko <pavel.kirienko@gmail.com>
* 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
@@ -40,10 +39,18 @@
#include <arch/chip/chip.h>
#include "uavcan_main.hpp"
/**
* @file uavcan_main.cpp
*
* Implements basic functinality of UAVCAN node.
*
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
*/
/*
* UavcanNode
*/
UavcanNode* UavcanNode::_instance;
UavcanNode *UavcanNode::_instance;
int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
{
@@ -58,22 +65,25 @@ int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
* If no transceiver is connected, the RX pin will float, occasionally causing CAN controller to
* fail during initialization.
*/
stm32_configgpio (GPIO_CAN1_RX);
stm32_configgpio (GPIO_CAN1_TX);
stm32_configgpio(GPIO_CAN1_RX);
stm32_configgpio(GPIO_CAN1_TX);
stm32_configgpio(GPIO_CAN2_RX | GPIO_PULLUP);
stm32_configgpio (GPIO_CAN2_TX);
stm32_configgpio(GPIO_CAN2_TX);
/*
* 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) {
warnx("CAN driver init failed %i", can_init_res);
return can_init_res;
}
can_initialized = true;
}
@@ -81,11 +91,14 @@ int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
* Node init
*/
_instance = new UavcanNode(can.driver, uavcan_stm32::SystemClock::instance());
if (_instance == nullptr) {
warnx("Out of memory");
return -1;
}
const int node_init_res = _instance->init(node_id);
if (node_init_res < 0) {
delete _instance;
_instance = nullptr;
@@ -96,9 +109,9 @@ int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
/*
* Start the task. Normally it should never exit.
*/
static auto run_trampoline = [](int, char*[]) {return UavcanNode::_instance->run();};
static auto run_trampoline = [](int, char *[]) {return UavcanNode::_instance->run();};
return task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, StackSize,
static_cast<main_t>(run_trampoline), nullptr);
static_cast<main_t>(run_trampoline), nullptr);
}
int UavcanNode::init(uavcan::NodeID node_id)
@@ -123,14 +136,17 @@ int UavcanNode::init(uavcan::NodeID node_id)
int UavcanNode::run()
{
_node.setStatusOk();
while (true) {
// TODO: ORB multiplexing
const int res = _node.spin(uavcan::MonotonicDuration::getInfinite());
if (res < 0) {
warnx("Spin error %i", res);
::sleep(1);
}
}
return -1;
}
@@ -158,32 +174,40 @@ int uavcan_main(int argc, char *argv[])
print_usage();
::exit(1);
}
/*
* Node ID
*/
const int node_id = atoi(argv[2]);
if (node_id < 0 || node_id > uavcan::NodeID::Max || !uavcan::NodeID(node_id).isUnicast()) {
warnx("Invalid Node ID %i", node_id);
::exit(1);
}
/*
* CAN bitrate
*/
long bitrate = 0;
if (argc > 3) {
bitrate = atol(argv[3]);
}
if (bitrate <= 0) {
bitrate = DEFAULT_CAN_BITRATE;
}
/*
* Start
*/
warnx("Node ID %i, bitrate %li", node_id, bitrate);
return UavcanNode::start(node_id, bitrate);
} else {
print_usage();
::exit(1);
}
return 0;
}