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UAVCANv1 Include Kconfig & Fix #18396

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This commit is contained in:
Peter van der Perk
2021-10-13 21:22:15 -04:00
committed by Daniel Agar
parent a732ddaefb
commit ed394027b1
13 changed files with 464 additions and 33 deletions
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src/drivers/uavcan_v1/Uavcan.cpp
+56 -5
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@@ -36,6 +36,28 @@
#include <lib/geo/geo.h>
#include <lib/version/version.h>
#ifdef CONFIG_UAVCAN_V1_APP_DESCRIPTOR
#include "boot_app_shared.h"
/*
* 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,
.git_hash = 0,
.major_version = APP_VERSION_MAJOR,
.minor_version = APP_VERSION_MINOR,
.board_id = HW_VERSION_MAJOR << 8 | HW_VERSION_MINOR,
.reserved = {0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff }
};
#endif
using namespace time_literals;
UavcanNode *UavcanNode::_instance;
@@ -80,7 +102,15 @@ UavcanNode::UavcanNode(CanardInterface *interface, uint32_t node_id) :
_canard_instance.mtu_bytes = CANARD_MTU_CAN_CLASSIC;
}
#ifdef CONFIG_UAVCAN_V1_NODE_MANAGER
_node_manager.subscribe();
#endif
#ifdef CONFIG_UAVCAN_V1_NODE_CLIENT
_node_client = new NodeClient(_canard_instance, _param_manager);
_node_client->subscribe();
#endif
_pub_manager.updateParams();
@@ -195,13 +225,30 @@ void UavcanNode::Run()
perf_begin(_cycle_perf);
perf_count(_interval_perf);
// send uavcan::node::Heartbeat_1_0 @ 1 Hz
sendHeartbeat();
if (_canard_instance.node_id != CANARD_NODE_ID_UNSET) {
// send uavcan::node::Heartbeat_1_0 @ 1 Hz
sendHeartbeat();
// Check all publishers
_pub_manager.update();
// Check all publishers
_pub_manager.update();
_node_manager.update();
#ifdef CONFIG_UAVCAN_V1_NODE_MANAGER
_node_manager.update();
#endif
}
#ifdef CONFIG_UAVCAN_V1_NODE_CLIENT
else if (_node_client != nullptr) {
if (_canard_instance.node_id == CANARD_NODE_ID_UNSET) {
_node_client->update();
} else {
delete _node_client;
}
}
#endif
transmit();
@@ -390,6 +437,10 @@ extern "C" __EXPORT int uavcan_v1_main(int argc, char *argv[])
int32_t node_id = 0;
param_get(param_find("UAVCAN_V1_ID"), &node_id);
if (node_id == -1) {
node_id = CANARD_NODE_ID_UNSET;
}
// Start
PX4_INFO("Node ID %" PRIu32 ", bitrate %" PRIu32, node_id, bitrate);
return UavcanNode::start(node_id, bitrate);