mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-23 09:17:35 +08:00
Adding px4cannode-v1 board and bootloader
This commit is contained in:
David Sidrane
committed by
Lorenz Meier
Lorenz Meier
parent
cd8b759fed
commit
bba8371b0f
@@ -0,0 +1 @@
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./dsdlc_generated/
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@@ -0,0 +1,84 @@
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############################################################################
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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#
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# 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
|
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")
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set(UAVCAN_PLATFORM stm32 CACHE STRING "uavcan platform")
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string(TOUPPER "${OS}" OS_UPPER)
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add_definitions(
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-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
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-DUAVCAN_MAX_NETWORK_SIZE_HINT=16
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-DUAVCAN_MEM_POOL_BLOCK_SIZE=48
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-DUAVCAN_NO_ASSERTIONS
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-DUAVCAN_PLATFORM=stm32
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-DUAVCAN_STM32_${OS_UPPER}=1
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-DUAVCAN_STM32_NUM_IFACES=1
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-DUAVCAN_STM32_TIMER_NUMBER=2
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-DUAVCAN_USE_CPP03=ON
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-DUAVCAN_USE_EXTERNAL_SNPRINT
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-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
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-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
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-DHW_UAVCAN_NAME=${uavcanblid_name}
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-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
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-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
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)
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px4_share_subdirectory(RELDIR ../uavcan/libuavcan ARGS EXCLUDE_FROM_ALL)
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add_dependencies(uavcan platforms__nuttx)
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include_directories(../../drivers/bootloaders/include)
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include_directories(../uavcan/libuavcan/libuavcan/include)
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include_directories(../uavcan/libuavcan/libuavcan/include/dsdlc_generated)
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include_directories(../uavcan/libuavcan/libuavcan_drivers/posix/include)
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include_directories(../uavcan/libuavcan/libuavcan_drivers/stm32/driver/include)
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px4_add_module(
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MODULE modules__uavcannode
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MAIN uavcannode
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STACK_MAIN 1048
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COMPILE_FLAGS
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-Wframe-larger-than=1500
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-Wno-deprecated-declarations
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-O3
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SRCS
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uavcannode_main.cpp
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indication_controller.cpp
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sim_controller.cpp
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led.cpp
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resources.cpp
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uavcannode_params.c
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DEPENDS
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platforms__common
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uavcan
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)
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@@ -0,0 +1,97 @@
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/****************************************************************************
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*
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* Copyright (C) 2014 PX4 Development Team. All rights reserved.
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* Author: Pavel Kirienko <pavel.kirienko@gmail.com>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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||||
* are met:
|
||||
*
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||||
* 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.
|
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* 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
|
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <systemlib/systemlib.h>
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#include "indication_controller.hpp"
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#include <uavcan/equipment/indication/LightsCommand.hpp>
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#include "led.hpp"
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namespace
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{
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unsigned self_light_index = 0;
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void cb_light_command(const uavcan::ReceivedDataStructure<uavcan::equipment::indication::LightsCommand> &msg)
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{
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uavcan::uint32_t red = 0;
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uavcan::uint32_t green = 0;
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uavcan::uint32_t blue = 0;
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for (auto &cmd : msg.commands) {
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if (cmd.light_id == self_light_index) {
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using uavcan::equipment::indication::RGB565;
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red = uavcan::uint32_t(float(cmd.color.red) *
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(255.0F / float(RGB565::FieldTypes::red::max())) + 0.5F);
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green = uavcan::uint32_t(float(cmd.color.green) *
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(255.0F / float(RGB565::FieldTypes::green::max())) + 0.5F);
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blue = uavcan::uint32_t(float(cmd.color.blue) *
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(255.0F / float(RGB565::FieldTypes::blue::max())) + 0.5F);
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red = uavcan::min<uavcan::uint32_t>(red, 0xFFU);
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green = uavcan::min<uavcan::uint32_t>(green, 0xFFU);
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blue = uavcan::min<uavcan::uint32_t>(blue, 0xFFU);
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}
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if (cmd.light_id == self_light_index + 1) {
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static int c = 0;
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if (c++ % 100 == 0) {
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::syslog(LOG_INFO, "rgb:%d %d %d hz %d\n", red, green, blue, int(cmd.color.red));
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}
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rgb_led(red, green, blue, int(cmd.color.red));
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break;
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}
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}
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}
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}
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int init_indication_controller(uavcan::INode &node)
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{
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static uavcan::Subscriber<uavcan::equipment::indication::LightsCommand> sub_light(node);
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self_light_index = 0;
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int res = 0;
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res = sub_light.start(cb_light_command);
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if (res != 0) {
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return res;
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}
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return 0;
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}
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@@ -0,0 +1,40 @@
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/****************************************************************************
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*
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* Copyright (C) 2014 PX4 Development Team. All rights reserved.
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* Author: Pavel Kirienko <pavel.kirienko@gmail.com>
|
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*
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* 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
|
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <uavcan_stm32/uavcan_stm32.hpp>
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int init_indication_controller(uavcan::INode &node);
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@@ -0,0 +1,75 @@
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/****************************************************************************
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*
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* Copyright (C) 2015 PX4 Development Team. All rights reserved.
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* Author: David Sidrane<david_s5@nscdg.com>
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*
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* Redistribution and use in source and binary forms, with or without
|
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* 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.
|
||||
*
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****************************************************************************/
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#include <nuttx/config.h>
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#include <stdint.h>
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#include <arch/board/board.h>
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#include "chip/stm32_tim.h"
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#include "led.hpp"
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void rgb_led(int r, int g , int b, int freqs)
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{
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long fosc = 72000000;
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long prescale = 2048;
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long p1s = fosc / prescale;
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long p0p5s = p1s / 2;
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stm32_tim_channel_t mode = (stm32_tim_channel_t)(STM32_TIM_CH_OUTPWM | STM32_TIM_CH_POLARITY_NEG);
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static struct stm32_tim_dev_s *tim = 0;
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if (tim == 0) {
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tim = stm32_tim_init(3);
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STM32_TIM_SETMODE(tim, STM32_TIM_MODE_UP);
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STM32_TIM_SETCLOCK(tim, p1s - 8);
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STM32_TIM_SETPERIOD(tim, p1s);
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STM32_TIM_SETCOMPARE(tim, 1, 0);
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STM32_TIM_SETCOMPARE(tim, 2, 0);
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STM32_TIM_SETCOMPARE(tim, 3, 0);
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STM32_TIM_SETCHANNEL(tim, 1, mode);
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STM32_TIM_SETCHANNEL(tim, 2, mode);
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STM32_TIM_SETCHANNEL(tim, 3, mode);
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}
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long p = freqs == 0 ? p1s : p1s / freqs;
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STM32_TIM_SETPERIOD(tim, p);
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p = freqs == 0 ? p1s + 1 : p0p5s / freqs;
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STM32_TIM_SETCOMPARE(tim, 1, (r * p) / 255);
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STM32_TIM_SETCOMPARE(tim, 2, (g * p) / 255);
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STM32_TIM_SETCOMPARE(tim, 3, (b * p) / 255);
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}
|
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@@ -0,0 +1,38 @@
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/****************************************************************************
|
||||
*
|
||||
* 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
|
||||
@@ -0,0 +1,189 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 <nuttx/progmem.h>
|
||||
#include <nuttx/compiler.h>
|
||||
#include <stdlib.h>
|
||||
#include <syslog.h>
|
||||
|
||||
#include <nuttx/arch.h>
|
||||
|
||||
#include <systemlib/cpuload.h>
|
||||
#include "resources.hpp"
|
||||
|
||||
#if !defined(CONFIG_NSH_LIBRARY)
|
||||
|
||||
static const char *
|
||||
tstate_name(const tstate_t s)
|
||||
{
|
||||
switch (s) {
|
||||
case TSTATE_TASK_INVALID: return "init";
|
||||
|
||||
case TSTATE_TASK_PENDING: return "PEND";
|
||||
|
||||
case TSTATE_TASK_READYTORUN: return "READY";
|
||||
|
||||
case TSTATE_TASK_RUNNING: return "RUN";
|
||||
|
||||
case TSTATE_TASK_INACTIVE: return "inact";
|
||||
|
||||
case TSTATE_WAIT_SEM: return "w:sem";
|
||||
#ifndef CONFIG_DISABLE_SIGNALS
|
||||
|
||||
case TSTATE_WAIT_SIG: return "w:sig";
|
||||
#endif
|
||||
#ifndef CONFIG_DISABLE_MQUEUE
|
||||
|
||||
case TSTATE_WAIT_MQNOTEMPTY: return "w:mqe";
|
||||
|
||||
case TSTATE_WAIT_MQNOTFULL: return "w:mqf";
|
||||
#endif
|
||||
#ifdef CONFIG_PAGING
|
||||
|
||||
case TSTATE_WAIT_PAGEFILL: return "w:pgf";
|
||||
#endif
|
||||
|
||||
default:
|
||||
return "ERROR";
|
||||
}
|
||||
}
|
||||
|
||||
void stack_check(void)
|
||||
{
|
||||
|
||||
for (int i = 0; i < CONFIG_MAX_TASKS; i++) {
|
||||
|
||||
if (system_load.tasks[i].tcb) {
|
||||
size_t stack_size = system_load.tasks[i].tcb->adj_stack_size;
|
||||
ssize_t stack_free = 0;
|
||||
|
||||
#if CONFIG_ARCH_INTERRUPTSTACK > 3
|
||||
|
||||
if (system_load.tasks[i].tcb->pid == 0) {
|
||||
stack_size = (CONFIG_ARCH_INTERRUPTSTACK & ~3);
|
||||
stack_free = up_check_intstack_remain();
|
||||
|
||||
} else {
|
||||
#endif
|
||||
stack_free = up_check_tcbstack_remain(system_load.tasks[i].tcb);
|
||||
#if CONFIG_ARCH_INTERRUPTSTACK > 3
|
||||
}
|
||||
|
||||
#endif
|
||||
::syslog(LOG_INFO, "%4d %*-s %8lld %5u/%5u %3u (%3u) ",
|
||||
system_load.tasks[i].tcb->pid,
|
||||
CONFIG_TASK_NAME_SIZE, system_load.tasks[i].tcb->name,
|
||||
(system_load.tasks[i].total_runtime / 1000),
|
||||
stack_size - stack_free,
|
||||
stack_size,
|
||||
system_load.tasks[i].tcb->sched_priority,
|
||||
system_load.tasks[i].tcb->base_priority);
|
||||
|
||||
#if CONFIG_RR_INTERVAL > 0
|
||||
/* print scheduling info with RR time slice */
|
||||
::syslog(LOG_INFO, " %6d\n", system_load.tasks[i].tcb->timeslice);
|
||||
#else
|
||||
/* print task state instead */
|
||||
::syslog(LOG_INFO, " %-6s\n", tstate_name((tstate_t)system_load.tasks[i].tcb->task_state));
|
||||
#endif
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static void free_getprogmeminfo(struct mallinfo *mem)
|
||||
{
|
||||
size_t page = 0, stpage = 0xFFFF;
|
||||
size_t pagesize = 0;
|
||||
ssize_t status;
|
||||
|
||||
mem->arena = 0;
|
||||
mem->fordblks = 0;
|
||||
mem->uordblks = 0;
|
||||
mem->mxordblk = 0;
|
||||
|
||||
for (status = 0, page = 0; status >= 0; page++) {
|
||||
status = up_progmem_ispageerased(page);
|
||||
pagesize = up_progmem_pagesize(page);
|
||||
|
||||
mem->arena += pagesize;
|
||||
|
||||
/* Is this beginning of new free space section */
|
||||
|
||||
if (status == 0) {
|
||||
if (stpage == 0xFFFF) { stpage = page; }
|
||||
|
||||
mem->fordblks += pagesize;
|
||||
|
||||
} else if (status != 0) {
|
||||
mem->uordblks += pagesize;
|
||||
|
||||
if (stpage != 0xFFFF && up_progmem_isuniform()) {
|
||||
stpage = page - stpage;
|
||||
|
||||
if (stpage > (size_t) mem->mxordblk) {
|
||||
mem->mxordblk = stpage;
|
||||
}
|
||||
|
||||
stpage = 0xFFFF;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
mem->mxordblk *= pagesize;
|
||||
}
|
||||
|
||||
void free_check(void)
|
||||
{
|
||||
struct mallinfo data;
|
||||
struct mallinfo prog;
|
||||
|
||||
#ifdef CONFIG_CAN_PASS_STRUCTS
|
||||
data = mallinfo();
|
||||
#else
|
||||
(void)mallinfo(&data);
|
||||
#endif
|
||||
|
||||
free_getprogmeminfo(&prog);
|
||||
|
||||
|
||||
::syslog(LOG_INFO, " total used free largest\n");
|
||||
|
||||
::syslog(LOG_INFO, "Data: %11d%11d%11d%11d\n",
|
||||
data.arena, data.uordblks, data.fordblks, data.mxordblk);
|
||||
|
||||
::syslog(LOG_INFO, "Prog: %11d%11d%11d%11d\n",
|
||||
prog.arena, prog.uordblks, prog.fordblks, prog.mxordblk);
|
||||
}
|
||||
#endif /* CONFIG_NSH_LIBRARY */
|
||||
@@ -0,0 +1,44 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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
|
||||
#if defined(CONFIG_NSH_LIBRARY)
|
||||
#define stack_check()
|
||||
#define free_check() free_main(0,0)
|
||||
#else
|
||||
void stack_check(void);
|
||||
void free_check(void);
|
||||
#endif
|
||||
__END_DECLS
|
||||
@@ -0,0 +1,157 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 <syslog.h>
|
||||
#include <systemlib/systemlib.h>
|
||||
|
||||
#include "sim_controller.hpp"
|
||||
#include <uavcan/equipment/esc/RawCommand.hpp>
|
||||
#include <uavcan/equipment/esc/RPMCommand.hpp>
|
||||
#include <uavcan/equipment/esc/Status.hpp>
|
||||
#include "led.hpp"
|
||||
|
||||
|
||||
uavcan::Publisher<uavcan::equipment::esc::Status> *pub_status;
|
||||
namespace
|
||||
{
|
||||
unsigned self_index = 0;
|
||||
int rpm = 0;
|
||||
|
||||
static void cb_raw_command(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::RawCommand> &msg)
|
||||
{
|
||||
if (msg.cmd.size() <= self_index) {
|
||||
rgb_led(0, 0, 0, 0);
|
||||
return;
|
||||
}
|
||||
|
||||
const float scaled = msg.cmd[self_index] / float(
|
||||
uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max());
|
||||
|
||||
static int c = 0;
|
||||
|
||||
if (c++ % 100 == 0) {
|
||||
::syslog(LOG_INFO, "scaled:%d\n", (int)scaled);
|
||||
}
|
||||
|
||||
if (scaled > 0) {
|
||||
} else {
|
||||
}
|
||||
}
|
||||
|
||||
static void cb_rpm_command(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::RPMCommand> &msg)
|
||||
{
|
||||
if (msg.rpm.size() <= self_index) {
|
||||
return;
|
||||
}
|
||||
|
||||
rpm = msg.rpm[self_index];
|
||||
static int c = 0;
|
||||
|
||||
if (c++ % 100 == 0) {
|
||||
::syslog(LOG_INFO, "rpm:%d\n", rpm);
|
||||
}
|
||||
|
||||
if (rpm > 0) {
|
||||
rgb_led(255, 0, 0, rpm);
|
||||
|
||||
} else {
|
||||
rgb_led(0, 0, 0, 0);
|
||||
}
|
||||
}
|
||||
|
||||
void cb_10Hz(const uavcan::TimerEvent &event)
|
||||
{
|
||||
uavcan::equipment::esc::Status msg;
|
||||
|
||||
msg.esc_index = self_index;
|
||||
msg.rpm = rpm;
|
||||
msg.voltage = 3.3F;
|
||||
msg.current = 0.001F;
|
||||
msg.temperature = 24.0F;
|
||||
msg.power_rating_pct = static_cast<unsigned>(.5F * 100 + 0.5F);
|
||||
msg.error_count = 0;
|
||||
|
||||
if (rpm != 0) {
|
||||
// Lower the publish rate to 1Hz if the motor is not running
|
||||
static uavcan::MonotonicTime prev_pub_ts;
|
||||
|
||||
if ((event.scheduled_time - prev_pub_ts).toMSec() >= 990) {
|
||||
prev_pub_ts = event.scheduled_time;
|
||||
pub_status->broadcast(msg);
|
||||
}
|
||||
|
||||
} else {
|
||||
pub_status->broadcast(msg);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
int init_sim_controller(uavcan::INode &node)
|
||||
{
|
||||
|
||||
typedef void (*cb)(const uavcan::TimerEvent &);
|
||||
static uavcan::Subscriber<uavcan::equipment::esc::RawCommand> sub_raw_command(node);
|
||||
static uavcan::Subscriber<uavcan::equipment::esc::RPMCommand> sub_rpm_command(node);
|
||||
static uavcan::TimerEventForwarder<cb> timer_10hz(node);
|
||||
|
||||
self_index = 0;
|
||||
|
||||
int res = 0;
|
||||
|
||||
res = sub_raw_command.start(cb_raw_command);
|
||||
|
||||
if (res != 0) {
|
||||
return res;
|
||||
}
|
||||
|
||||
res = sub_rpm_command.start(cb_rpm_command);
|
||||
|
||||
if (res != 0) {
|
||||
return res;
|
||||
}
|
||||
|
||||
pub_status = new uavcan::Publisher<uavcan::equipment::esc::Status>(node);
|
||||
res = pub_status->init();
|
||||
|
||||
if (res != 0) {
|
||||
return res;
|
||||
}
|
||||
|
||||
timer_10hz.setCallback(&cb_10Hz);
|
||||
timer_10hz.startPeriodic(uavcan::MonotonicDuration::fromMSec(100));
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,40 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 <uavcan_stm32/uavcan_stm32.hpp>
|
||||
|
||||
int init_sim_controller(uavcan::INode &node);
|
||||
@@ -0,0 +1,619 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
*
|
||||
* 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>
|
||||
|
||||
#ifdef __PX4_NUTTX
|
||||
#include <nuttx/clock.h>
|
||||
#
|
||||
#else
|
||||
#include <px4_workqueue.h>
|
||||
#endif
|
||||
|
||||
#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>
|
||||
__BEGIN_DECLS
|
||||
#include <nuttx/board.h>
|
||||
#include <arch/chip/chip.h>
|
||||
__END_DECLS
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
|
||||
#include "uavcannode_main.hpp"
|
||||
#include "indication_controller.hpp"
|
||||
#include "sim_controller.hpp"
|
||||
#include "resources.hpp"
|
||||
#include "led.hpp"
|
||||
|
||||
#include "boot_app_shared.h"
|
||||
|
||||
/**
|
||||
* @file uavcan_main.cpp
|
||||
*
|
||||
* Implements basic functionality of UAVCAN node.
|
||||
*
|
||||
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
|
||||
* David Sidrane <david_s5@nscdg.com>
|
||||
*/
|
||||
|
||||
#define RESOURCE_DEBUG
|
||||
#if defined(RESOURCE_DEBUG)
|
||||
#define resources(s) ::syslog(LOG_INFO," %s\n",(s)); \
|
||||
if (UavcanNode::instance()) { \
|
||||
syslog(LOG_INFO,"UAVCAN getPeakNumUsedBlocks() in bytes %d\n", \
|
||||
UAVCAN_MEM_POOL_BLOCK_SIZE * UavcanNode::instance()->get_node().getAllocator().getPeakNumUsedBlocks()); \
|
||||
} \
|
||||
free_check(); \
|
||||
stack_check();
|
||||
#else
|
||||
#define resources(s)
|
||||
#endif
|
||||
|
||||
/*
|
||||
* 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
|
||||
*/
|
||||
UavcanNode *UavcanNode::_instance;
|
||||
|
||||
UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock) :
|
||||
CDev("uavcan", UAVCAN_DEVICE_PATH),
|
||||
active_bitrate(0),
|
||||
_node(can_driver, system_clock),
|
||||
_node_mutex(),
|
||||
_time_sync_slave(_node),
|
||||
_fw_update_listner(_node),
|
||||
_reset_timer(_node)
|
||||
{
|
||||
const int res = pthread_mutex_init(&_node_mutex, nullptr);
|
||||
|
||||
if (res < 0) {
|
||||
std::abort();
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
UavcanNode::~UavcanNode()
|
||||
{
|
||||
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 UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
|
||||
{
|
||||
|
||||
|
||||
if (_instance != nullptr) {
|
||||
warnx("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) {
|
||||
warnx("CAN driver init failed %i", can_init_res);
|
||||
return can_init_res;
|
||||
}
|
||||
|
||||
can_initialized = true;
|
||||
}
|
||||
|
||||
/*
|
||||
* Node init
|
||||
*/
|
||||
_instance = new UavcanNode(can.driver, uavcan_stm32::SystemClock::instance());
|
||||
|
||||
if (_instance == nullptr) {
|
||||
warnx("Out of memory");
|
||||
return -1;
|
||||
}
|
||||
|
||||
|
||||
resources("Before _instance->init:");
|
||||
const int node_init_res = _instance->init(node_id);
|
||||
resources("After _instance->init:");
|
||||
|
||||
if (node_init_res < 0) {
|
||||
delete _instance;
|
||||
_instance = nullptr;
|
||||
warnx("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 UavcanNode::_instance->run();};
|
||||
_instance->_task = px4_task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_ACTUATOR_OUTPUTS, StackSize,
|
||||
static_cast<main_t>(run_trampoline), nullptr);
|
||||
|
||||
if (_instance->_task < 0) {
|
||||
warnx("start failed: %d", errno);
|
||||
return -errno;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
void UavcanNode::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;
|
||||
|
||||
warnx("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 UavcanNode::cb_beginfirmware_update(const uavcan::ReceivedDataStructure<UavcanNode::BeginFirmwareUpdate::Request>
|
||||
&req,
|
||||
uavcan::ServiceResponseDataStructure<UavcanNode::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 UavcanNode::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,
|
||||
&UavcanNode::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 UavcanNode::node_spin_once()
|
||||
{
|
||||
const int spin_res = _node.spin(uavcan::MonotonicTime());
|
||||
|
||||
if (spin_res < 0) {
|
||||
warnx("node spin error %i", spin_res);
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
add a fd to the list of polled events. This assumes you want
|
||||
POLLIN for now.
|
||||
*/
|
||||
int UavcanNode::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 UavcanNode::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);
|
||||
}
|
||||
|
||||
while (init_sim_controller(get_node()) < 0) {
|
||||
::syslog(LOG_INFO, "UAVCAN: sim controller init failed\n");
|
||||
::sleep(1);
|
||||
}
|
||||
|
||||
(void)pthread_mutex_lock(&_node_mutex);
|
||||
|
||||
/*
|
||||
* Set up the time synchronization
|
||||
*/
|
||||
|
||||
const int slave_init_res = _time_sync_slave.start();
|
||||
|
||||
if (slave_init_res < 0) {
|
||||
warnx("Failed to start time_sync_slave");
|
||||
_task_should_exit = true;
|
||||
}
|
||||
|
||||
const unsigned PollTimeoutMs = 50;
|
||||
|
||||
const int busevent_fd = ::open(uavcan_stm32::BusEvent::DevName, 0);
|
||||
|
||||
if (busevent_fd < 0) {
|
||||
warnx("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);
|
||||
|
||||
uint32_t start_tick = clock_systimer();
|
||||
|
||||
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
|
||||
}
|
||||
|
||||
if (clock_systimer() - start_tick > TICK_PER_SEC) {
|
||||
start_tick = clock_systimer();
|
||||
resources("Udate:");
|
||||
/*
|
||||
* Printing the slave status information once a second
|
||||
*/
|
||||
const bool active = _time_sync_slave.isActive(); // Whether it can sync with a remote master
|
||||
|
||||
const int master_node_id = _time_sync_slave.getMasterNodeID().get(); // Returns an invalid Node ID if (active == false)
|
||||
|
||||
const long msec_since_last_adjustment = (_node.getMonotonicTime() - _time_sync_slave.getLastAdjustmentTime()).toMSec();
|
||||
const uavcan::UtcTime utc = uavcan_stm32::clock::getUtc();
|
||||
syslog(LOG_INFO, "Time:%lld\n"
|
||||
" Time sync slave status:\n"
|
||||
" Active: %d\n"
|
||||
" Master Node ID: %d\n"
|
||||
" Last clock adjustment was %ld ms ago\n",
|
||||
utc .toUSec(), int(active), master_node_id, msec_since_last_adjustment);
|
||||
syslog(LOG_INFO, "UTC %lu sec Rate corr: %fPPM Jumps: %lu Locked: %i\n\n",
|
||||
static_cast<unsigned long>(utc.toMSec() / 1000),
|
||||
static_cast<double>(uavcan_stm32::clock::getUtcRateCorrectionPPM()),
|
||||
uavcan_stm32::clock::getUtcJumpCount(),
|
||||
int(uavcan_stm32::clock::isUtcLocked()));
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
teardown();
|
||||
warnx("exiting.");
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
int
|
||||
UavcanNode::teardown()
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
int
|
||||
UavcanNode::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
|
||||
UavcanNode::print_info()
|
||||
{
|
||||
if (!_instance) {
|
||||
warnx("not running, start first");
|
||||
}
|
||||
|
||||
(void)pthread_mutex_lock(&_node_mutex);
|
||||
|
||||
|
||||
(void)pthread_mutex_unlock(&_node_mutex);
|
||||
}
|
||||
|
||||
/*
|
||||
* App entry point
|
||||
*/
|
||||
static void print_usage()
|
||||
{
|
||||
warnx("usage: \n"
|
||||
"\tuavcannode {start|status|stop|arm|disarm}");
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int uavcannode_start(int argc, char *argv[]);
|
||||
|
||||
int uavcannode_start(int argc, char *argv[])
|
||||
{
|
||||
resources("Before board_app_initialize");
|
||||
|
||||
board_app_initialize(NULL);
|
||||
|
||||
resources("After board_app_initialize");
|
||||
|
||||
// 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("CANNODE_NODE_ID"), &node_id);
|
||||
(void)param_get(param_find("CANNODE_BITRATE"), &bitrate);
|
||||
}
|
||||
|
||||
if (node_id < 0 || node_id > uavcan::NodeID::Max || !uavcan::NodeID(node_id).isUnicast()) {
|
||||
warnx("Invalid Node ID %i", node_id);
|
||||
::exit(1);
|
||||
}
|
||||
|
||||
// Start
|
||||
warnx("Node ID %u, bitrate %u", node_id, bitrate);
|
||||
int rv = UavcanNode::start(node_id, bitrate);
|
||||
resources("After UavcanNode::start");
|
||||
::sleep(1);
|
||||
return rv;
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int uavcannode_main(int argc, char *argv[]);
|
||||
int uavcannode_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 2) {
|
||||
print_usage();
|
||||
::exit(1);
|
||||
}
|
||||
|
||||
if (!std::strcmp(argv[1], "start")) {
|
||||
|
||||
if (UavcanNode::instance()) {
|
||||
errx(1, "already started");
|
||||
}
|
||||
|
||||
return uavcannode_start(argc, argv);
|
||||
}
|
||||
|
||||
/* commands below require the app to be started */
|
||||
UavcanNode *const inst = UavcanNode::instance();
|
||||
|
||||
if (!inst) {
|
||||
errx(1, "application not running");
|
||||
}
|
||||
|
||||
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);
|
||||
}
|
||||
@@ -0,0 +1,153 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <uavcan_stm32/uavcan_stm32.hpp>
|
||||
#include <drivers/device/device.h>
|
||||
#include <uavcan/protocol/global_time_sync_slave.hpp>
|
||||
#include <uavcan/protocol/file/BeginFirmwareUpdate.hpp>
|
||||
#include <uavcan/node/timer.hpp>
|
||||
/**
|
||||
* @file uavcan_main.hpp
|
||||
*
|
||||
* Defines basic functionality of UAVCAN node.
|
||||
*
|
||||
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
|
||||
* David Sidrane <david_s5@nscdg.com>
|
||||
*/
|
||||
|
||||
#define NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN 1
|
||||
#define UAVCAN_DEVICE_PATH "/dev/uavcan/node"
|
||||
|
||||
// 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 UavcanNode : 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 = 2500;
|
||||
|
||||
public:
|
||||
typedef uavcan::Node<MemPoolSize> Node;
|
||||
typedef uavcan_stm32::CanInitHelper<RxQueueLenPerIface> CanInitHelper;
|
||||
typedef uavcan::protocol::file::BeginFirmwareUpdate BeginFirmwareUpdate;
|
||||
|
||||
UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock);
|
||||
|
||||
virtual ~UavcanNode();
|
||||
|
||||
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 UavcanNode *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 UavcanNode *_instance; ///< singleton pointer
|
||||
Node _node; ///< library instance
|
||||
pthread_mutex_t _node_mutex;
|
||||
uavcan::GlobalTimeSyncSlave _time_sync_slave;
|
||||
|
||||
pollfd _poll_fds[UAVCAN_NUM_POLL_FDS] = {};
|
||||
unsigned _poll_fds_num = 0;
|
||||
|
||||
typedef uavcan::MethodBinder<UavcanNode *,
|
||||
void (UavcanNode::*)(const uavcan::ReceivedDataStructure<UavcanNode::BeginFirmwareUpdate::Request> &,
|
||||
uavcan::ServiceResponseDataStructure<UavcanNode::BeginFirmwareUpdate::Response> &)>
|
||||
BeginFirmwareUpdateCallBack;
|
||||
|
||||
uavcan::ServiceServer<BeginFirmwareUpdate, BeginFirmwareUpdateCallBack> _fw_update_listner;
|
||||
void cb_beginfirmware_update(const uavcan::ReceivedDataStructure<UavcanNode::BeginFirmwareUpdate::Request> &req,
|
||||
uavcan::ServiceResponseDataStructure<UavcanNode::BeginFirmwareUpdate::Response> &rsp);
|
||||
|
||||
public:
|
||||
|
||||
/* A timer used to reboot after the response is sent */
|
||||
|
||||
uavcan::TimerEventForwarder<void (*)(const uavcan::TimerEvent &)> _reset_timer;
|
||||
|
||||
};
|
||||
@@ -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(CANNODE_NODE_ID, 120);
|
||||
|
||||
/**
|
||||
* UAVCAN CAN bus bitrate.
|
||||
*
|
||||
* @min 20000
|
||||
* @max 1000000
|
||||
* @group UAVCAN
|
||||
*/
|
||||
PARAM_DEFINE_INT32(CANNODE_BITRATE, 1000000);
|
||||
Reference in New Issue
Block a user