fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 21:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

restore UAVCAN bootloader support

Browse Source 
- essentially reverting #7878 minus the obsolete board support
This commit is contained in:
Daniel Agar
2020-04-19 16:10:09 -04:00
committed by GitHub
parent 7c533e5a53
commit a3ad710623
30 changed files with 6658 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
platforms/nuttx/src/canbootloader/include/can.h
+218
View File
@@ -0,0 +1,218 @@
/****************************************************************************
*
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
* Author: Ben Dyer <ben_dyer@mac.com>
* Pavel Kirienko <pavel.kirienko@zubax.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 "timer.h"
typedef enum {
CanPayloadLength = 8,
} can_const_t;
typedef enum {
CAN_OK = 0,
CAN_BOOT_TIMEOUT,
CAN_ERROR
} can_error_t;
typedef enum {
CAN_UNKNOWN = 0,
CAN_125KBAUD = 1,
CAN_250KBAUD = 2,
CAN_500KBAUD = 3,
CAN_1MBAUD = 4
} can_speed_t;
typedef enum {
CAN_Mode_Normal = 0, // Bits 30 and 31 00
CAN_Mode_LoopBack = 1, // Bit 30: Loop Back Mode (Debug)
CAN_Mode_Silent = 2, // Bit 31: Silent Mode (Debug)
CAN_Mode_Silent_LoopBack = 3 // Bits 30 and 31 11
} can_mode_t;
/*
* Receive from FIFO 1 -- filters are configured to push the messages there,
* and there are send/receive functions called off the SysTick ISR so
* we partition the usage of the CAN hardware to avoid the same FIFOs/mailboxes
* as the rest of the application uses.
*/
typedef enum {
Fifo0 = 0,
MailBox0 = 0,
Fifo1 = 1,
MailBox1 = 1,
Fifo2 = 2,
MailBox2 = 2,
FifoNone = 3,
MailBoxNone = 3,
} can_fifo_mailbox_t;
/****************************************************************************
* Name: can_speed2freq
*
* Description:
* This function maps a can_speed_t to a bit rate in Hz
*
* Input Parameters:
* can_speed - A can_speed_t from CAN_125KBAUD to CAN_1MBAUD
*
* Returned value:
* Bit rate in Hz
*
****************************************************************************/
int can_speed2freq(can_speed_t speed);
/****************************************************************************
* Name: can_speed2freq
*
* Description:
* This function maps a frequency in Hz to a can_speed_t in the range
* CAN_125KBAUD to CAN_1MBAUD.
*
* Input Parameters:
* freq - Bit rate in Hz
*
* Returned value:
* A can_speed_t from CAN_125KBAUD to CAN_1MBAUD
*
****************************************************************************/
can_speed_t can_freq2speed(int freq);
/****************************************************************************
* Name: can_tx
*
* Description:
* This function is called to transmit a CAN frame using the supplied
* mailbox. It will busy wait on the mailbox if not available.
*
* Input Parameters:
* message_id - The CAN message's EXID field
* length - The number of bytes of data - the DLC field
* message - A pointer to 8 bytes of data to be sent (all 8 bytes will be
* loaded into the CAN transmitter but only length bytes will
* be sent.
* mailbox - A can_fifo_mailbox_t MBxxx value to choose the outgoing
* mailbox.
*
* Returned value:
* The CAN_OK of the data sent or CAN_ERROR if a time out occurred
*
****************************************************************************/
uint8_t can_tx(uint32_t message_id, size_t length, const uint8_t *message, uint8_t mailbox);
/****************************************************************************
* Name: can_rx
*
* Description:
* This function is called to receive a CAN frame from a supplied fifo.
* It does not block if there is not available, but returns 0
*
* Input Parameters:
* message_id - A pointer to return the CAN message's EXID field
* length - A pointer to return the number of bytes of data - the DLC field
* message - A pointer to return 8 bytes of data to be sent (all 8 bytes will
* be written from the CAN receiver but only length bytes will be sent.
* fifo A can_fifo_mailbox_t fifixxx value to choose the incoming fifo.
*
* Returned value:
* The length of the data read or 0 if the fifo was empty
*
****************************************************************************/
uint8_t can_rx(uint32_t *message_id, size_t *length, uint8_t *message, uint8_t fifo);
/****************************************************************************
* Name: can_init
*
* Description:
* This function is used to initialize the CAN block for a given bit rate and
* mode.
*
* Input Parameters:
* speed - A can_speed_t from CAN_125KBAUD to CAN_1MBAUD
* mode - One of the can_mode_t of Normal, LoopBack and Silent or
* combination thereof.
*
* Returned value:
* OK - on Success or a negate errno value
*
****************************************************************************/
int can_init(can_speed_t speed, can_mode_t mode);
/****************************************************************************
* Name: can_autobaud
*
* Description:
* This function will attempt to detect the bit rate in use on the CAN
* interface until the timeout provided expires or the successful detection
* occurs.
*
* It will initialize the CAN block for a given bit rate
* to test that a message can be received. The CAN interface is left
* operating at the detected bit rate and in CAN_Mode_Normal mode.
*
* Input Parameters:
* can_speed - A pointer to return detected can_speed_t from CAN_UNKNOWN to
* CAN_1MBAUD
* timeout - The timer id of a timer to use as the maximum time to wait for
* successful bit rate detection. This timer may be not running
* in which case the auto baud code will try indefinitely to
* detect the bit rate.
*
* Returned value:
* CAN_OK - on Success or a CAN_BOOT_TIMEOUT
*
****************************************************************************/
int can_autobaud(can_speed_t *can_speed, bl_timer_id timeout);
/****************************************************************************
* Name: can_cancel_on_error
*
* Description:
* This function will test for transition completion or any error.
* If the is a error the the transmit will be aborted.
*
* Input Parameters:
* mailbox - A can_fifo_mailbox_t MBxxx value to choose the outgoing
* mailbox.
*
* Returned value:
* None
*
****************************************************************************/
void can_cancel_on_error(uint8_t mailbox);