Upgrade libcanard to 3.0 and rename uavcan_v1 to cyphal

Did some prep work for redundant interfaces by introducing CanardHandle class to decouple physical interfaces from cyphal.cpp
2026-10-25 12:53:33 +08:00 · 2022-05-10 09:46:18 -04:00
parent 3ac8fdbe29
commit b1ad4e8864
60 changed files with 967 additions and 802 deletions
@@ -0,0 +1,190 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Cyphal
+ *
+ *  0 - Cyphal disabled.
+ *  1 - Enables Cyphal
+ *
+ * @boolean
+ * @reboot_required true
+ * @group Cyphal
+ */
+PARAM_DEFINE_INT32(CYPHAL_ENABLE, 0);
+
+/**
+ * Cyphal Node ID.
+ *
+ * Read the specs at http://uavcan.org to learn more about Node ID.
+ *
+ * @min -1
+ * @max 125
+ * @reboot_required true
+ * @group Cyphal
+ */
+PARAM_DEFINE_INT32(CYPHAL_ID, 1);
+
+/**
+ * UAVCAN/CAN v1 bus bitrate.
+ *
+ * @unit bit/s
+ * @min 20000
+ * @max 1000000
+ * @reboot_required true
+ * @group Cyphal
+ */
+PARAM_DEFINE_INT32(CYPHAL_BAUD, 1000000);
+
+/* Subscription port ID, -1 will be treated as unset */
+
+/**
+ * ESC 0 subscription port ID.
+ *
+ * @min -1
+ * @max 6143
+ * @group Cyphal
+ */
+PARAM_DEFINE_INT32(UCAN1_ESC0_SUB, -1);
+
+/**
+ * GPS 0 subscription port ID.
+ *
+ * @min -1
+ * @max 6143
+ * @group Cyphal
+ */
+PARAM_DEFINE_INT32(UCAN1_GPS0_SUB, -1);
+
+/**
+ * GPS 1 subscription port ID.
+ *
+ * @min -1
+ * @max 6143
+ * @group Cyphal
+ */
+PARAM_DEFINE_INT32(UCAN1_GPS1_SUB, -1);
+
+/**
+ * UDRAL battery energy source subscription port ID.
+ *
+ * @min -1
+ * @max 6143
+ * @group Cyphal
+ */
+PARAM_DEFINE_INT32(UCAN1_BMS_ES_SUB, -1);
+
+/**
+ * UDRAL battery status subscription port ID.
+ *
+ * @min -1
+ * @max 6143
+ * @group Cyphal
+ */
+PARAM_DEFINE_INT32(UCAN1_BMS_BS_SUB, -1);
+
+/**
+ * UDRAL battery parameters subscription  port ID.
+ *
+ * @min -1
+ * @max 6143
+ * @group Cyphal
+ */
+PARAM_DEFINE_INT32(UCAN1_BMS_BP_SUB, -1);
+
+/**
+ * Cyphal leagcy battery port ID.
+ *
+ * @min -1
+ * @max 6143
+ * @group Cyphal
+ */
+PARAM_DEFINE_INT32(UCAN1_LG_BMS_SUB, -1);
+
+
+/**
+ * sensor_gps uORB over Cyphal subscription port ID.
+ *
+ * @min -1
+ * @max 6143
+ * @group Cyphal
+ */
+PARAM_DEFINE_INT32(UCAN1_UORB_GPS, -1);
+
+
+/**
+ * sensor_gps uORB over Cyphal publication port ID.
+ *
+ * @min -1
+ * @max 6143
+ * @group Cyphal
+ */
+PARAM_DEFINE_INT32(UCAN1_UORB_GPS_P, -1);
+
+// Publication Port IDs
+
+/**
+ * Cyphal ESC publication port ID.
+ *
+ * @min -1
+ * @max 6143
+ * @group Cyphal
+ */
+PARAM_DEFINE_INT32(UCAN1_ESC_PUB, -1);
+
+/**
+ * Cyphal GPS publication port ID.
+ *
+ * @min -1
+ * @max 6143
+ * @group Cyphal
+ */
+PARAM_DEFINE_INT32(UCAN1_GPS_PUB, -1);
+
+/**
+ * Cyphal Servo publication port ID.
+ *
+ * @min -1
+ * @max 6143
+ * @group Cyphal
+ */
+PARAM_DEFINE_INT32(UCAN1_SERVO_PUB, -1);
+
+/**
+ * actuator_outputs uORB over Cyphal publication port ID.
+ *
+ * @min -1
+ * @max 6143
+ * @group Cyphal
+ */
+PARAM_DEFINE_INT32(UCAN1_ACTR_PUB, -1);