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38,215 Commits 852 Branches 161 Tags
4044fbd4a077986ec07ce71b9f810ecfe2bbf526
Commit Graph
63 Commits
Author SHA1 Message Date
Peter van der Perk 4b89ff29ce PX4 full firmware Kconfig PoC 2021-10-07 10:09:01 -04:00
Peter van der Perk 55aa2e50ff UAVCANv1 menuconfig make it board label configurable 2021-10-07 10:09:01 -04:00
Peter van der Perk b9bcb7fe7f uavcanconfig force CMake reconfiguration after use 2021-10-07 10:09:01 -04:00
Peter van der Perk 95e593f3b8 Added python menuconfig.py fallback 2021-10-07 10:09:01 -04:00
Peter van der Perk 37271d334b [UAVCANv1] Initial uavcanconfig menuconfig example 2021-10-07 10:09:01 -04:00
Jacob Crabill 1ee5f75aa5 uavcan_v1: Add PublicationManager and uORB Publisher (#17863) 2021-08-25 14:56:23 -04:00
David Sidrane 8f64f7ce90 uavcan_1:Fixed hardfault on stop 2021-08-04 10:40:34 -04:00
Daniel Agar 883624d915 lib/geo: move from ecl 2021-07-15 10:38:24 -04:00
JacobCrabill 3143756d97 uavcan_v1: Cleanup _uavcan_subs in SubMgr 
Remove hard-coding of PX4 param names - use subject name and instance
instead

Also cleanup duplicates of CANARD_PORT_ID_UNSET/MAX vars
 2021-07-06 22:00:07 -04:00
JacobCrabill 8f55c960b6 uavcan_v1: Change '_PID' params to '_SUB' for clarity 2021-07-06 22:00:07 -04:00
JacobCrabill fce809841f uavcan_v1: Revert HeapSize to 8192 2021-07-06 22:00:07 -04:00
JacobCrabill a644cf19c5 uavcan_v1: Update SubscriptionManager 
Make _uavcan_subs struct 'const' again
Refactor updateDynamicSubscriptions()
Add getSubjectName(), getInstance() to BaseSubscriber class
 2021-07-06 22:00:07 -04:00
JacobCrabill ab46b8026c uavcan_v1: Don't re-subscribe to fixed port ID subscribers 2021-07-06 22:00:07 -04:00
JacobCrabill a99b657f03 uavcan_v1: Fix SubscriptionManager dynamic update 2021-07-06 22:00:07 -04:00
JacobCrabill db460daf46 uavcan_v1: Bugfix: pop timed-out transfers from tx queue 2021-07-06 22:00:07 -04:00
JacobCrabill c9f743049b uavcan_v1: Increase _uavcan_heap size 2021-07-06 22:00:07 -04:00
JacobCrabill 4ba1f966e5 uavcan_v1: Add update and print support to SubscriptionManager 2021-07-06 22:00:07 -04:00
JacobCrabill 74d0f46279 uavcan_v1: Publisher: Fix port_id update 2021-07-06 22:00:07 -04:00
Peter van der Perk cf524cd2c9 [UAVCANv1] Added uORB actuator_outputs publisher 2021-07-02 00:58:38 -04:00
Matthias Grob 9c0c85c9e2 battery_status: naming consistency current_filtered_a -> current_average_a 2021-07-01 14:24:38 +02:00
Peter van der Perk b2742658b7 UAVCANv1 port unset fixes and deinitialization 2021-06-17 10:02:17 -04:00
David Sidrane 37d93320eb uavcan_v1:Uavcan: Use inttypes 2021-06-16 17:07:47 +02:00
Peter van der Perk 8c4b900f9a uavcan_v1: Correct transmission deadline check & fix SocketCAN tx deadline 2021-06-10 02:26:28 +00:00
JacobCrabill 0931ff10d5 uavcan_v1: Clean up handling of invalid port IDs 
Always convert 'invalid' port ID values (e.g., the default PX4 port-ID
parameter value of -1) to CANARD_PORT_ID_UNSET in all comparisons.
 2021-06-08 20:13:19 -04:00
JacobCrabill 73ef22ae77 uavcan_v1: Fix heartbeat pub timestamp 
The hrt_abstime value used to control the 1s pub rate was the value of
the timestamp_usec of the CanardTransfer, which has a timeout of 100ms
added to it.

Since hrt_abstime is an unsigned datatype, if the hrt_elapsed_time()
check was called <100ms apart, the negative value would result in a
large hrt_elapsed_time, and the bus would be spammed with Heartbeat
messages (or error messages from canardTxPush).
 2021-06-08 20:13:19 -04:00
Peter van der Perk 9756c70491 UAVCANv1 Iteration, dynamic subscribers and decoupling (#17624) 
* Update to use libcanard callback
Reworked param system with lambda

* Use callback instead of lambda saves 500 bytes of flash

* [UAVCANv1] Added ServiceRequest class, subscribers decoupled

* PX4 UAVCANv1 portID param default CANARD_PORT_ID_UNSET (65535U)

* [UAVCANv1] uORB sensor_gps modify timestamp for now untill we've got timesync working

* UAVCANv1 update parameter definition to use -1 as unset
 2021-06-04 09:30:17 -04:00
PX4 BuildBot 723e803ab9 Update submodule public_regulated_data_types to latest Sun May 16 12:39:14 UTC 2021 
- public_regulated_data_types in PX4/Firmware (b00f416229a5bcef2bdad4ec29c90e4846c701af): https://github.com/UAVCAN/public_regulated_data_types/commit/1337b1c86fee5bd3f3c3c0f1027bcf19e5c08aae
    - public_regulated_data_types current upstream: https://github.com/UAVCAN/public_regulated_data_types/commit/0a773b93ce5c94e1d2791b180058cb9897fab7e1
    - Changes: https://github.com/UAVCAN/public_regulated_data_types/compare/1337b1c86fee5bd3f3c3c0f1027bcf19e5c08aae...0a773b93ce5c94e1d2791b180058cb9897fab7e1

    0a773b9 2021-05-10 Kalyan Sriram - reg/drone: remove redundant timestamp in Velocity3Var (#117)
 2021-05-16 17:22:40 -04:00
Peter van der Perk 0c926250a2 UAVCANv1 cleanup and uORB over UAVCANV1 move to own subclass 2021-05-08 13:03:02 +02:00
PX4 BuildBot 8ef10c9b38 Update submodule public_regulated_data_types to latest Sat May 1 12:41:36 UTC 2021 
- public_regulated_data_types in PX4/Firmware (bb5225ddae32f3a85f6c01fa5957f1b30cb73a14): https://github.com/UAVCAN/public_regulated_data_types/commit/309b251a7e8d713d6bf428e18e28d91d5f07b73e
    - public_regulated_data_types current upstream: https://github.com/UAVCAN/public_regulated_data_types/commit/1337b1c86fee5bd3f3c3c0f1027bcf19e5c08aae
    - Changes: https://github.com/UAVCAN/public_regulated_data_types/compare/309b251a7e8d713d6bf428e18e28d91d5f07b73e...1337b1c86fee5bd3f3c3c0f1027bcf19e5c08aae

    1337b1c 2021-04-23 Pavel Kirienko - Update the `nominal_voltage` in battery parameters (#114)
 2021-05-01 19:17:02 -04:00
Kalyan Sriram b2d73dca26 uavcan_v1: cmake: nunavut generation message 2021-04-27 10:30:33 -04:00
Peter van der Perk 8b3aa46c01 [UAVCANv1] Publisher default timeout, has to be tuned further for all publishers 2021-04-20 21:44:40 +02:00
Peter van der Perk 1804cea92c [UAVCANv1] TX deadline fix and other fixes 2021-04-20 21:44:40 +02:00
Peter van der Perk 02a4d93c74 [UAVCANv1] snprintf and cleanup ram usage ~4KB 2021-04-20 21:44:40 +02:00
Peter van der Perk 399815469f [UAVCANv1] Subscriber multi topic subscription 
reg.drone.bms full support
legacy.equipment.bms support
 2021-04-20 21:44:40 +02:00
PX4 BuildBot b9e0a16594 Update submodule public_regulated_data_types to latest Mon Apr 12 12:45:35 UTC 2021 
- public_regulated_data_types in PX4/Firmware (9101f5707a251c33048289249bd565eba5d3a848): https://github.com/UAVCAN/public_regulated_data_types/commit/53a7dbbf85554e11517c13ad91b9efb871599ad1
    - public_regulated_data_types current upstream: https://github.com/UAVCAN/public_regulated_data_types/commit/309b251a7e8d713d6bf428e18e28d91d5f07b73e
    - Changes: https://github.com/UAVCAN/public_regulated_data_types/compare/53a7dbbf85554e11517c13ad91b9efb871599ad1...309b251a7e8d713d6bf428e18e28d91d5f07b73e

    309b251 2021-04-11 Peter van der Perk - reg.drone Battery parameters add nominal voltage (#113)
 2021-04-12 19:51:35 -04:00
PX4 BuildBot 74e848d57e Update submodule public_regulated_data_types to latest Mon Apr 5 12:40:16 UTC 2021 
- public_regulated_data_types in PX4/Firmware (1557f3a23461a144dd75edae4595665e5684597d): https://github.com/UAVCAN/public_regulated_data_types/commit/7f5489e6e916cc8b13db0582dcf9930e225594b9
    - public_regulated_data_types current upstream: https://github.com/UAVCAN/public_regulated_data_types/commit/53a7dbbf85554e11517c13ad91b9efb871599ad1
    - Changes: https://github.com/UAVCAN/public_regulated_data_types/compare/7f5489e6e916cc8b13db0582dcf9930e225594b9...53a7dbbf85554e11517c13ad91b9efb871599ad1

    53a7dbb 2021-03-31 Pavel Kirienko - Change wording in uavcan.pnp.NodeIDAllocationData to reflect the less static nature of UAVCAN v1 (#111)
c3aa82f 2021-03-23 Pavel Kirienko - Update Readiness as discussed at the DS-015 call
fcc1062 2021-03-16 Pavel Kirienko - Doc amendment for uavcan.register.Access: mapping between registers and environment variables (#109)
342f358 2021-02-22 Pavel Kirienko - Remove misleading comment in battery.Status.0.2
1baa9cb 2021-02-22 Pavel Kirienko - Add link to Nunaweb and synchronize the description with the front page (#108)
 2021-04-05 11:26:01 -04:00
Peter van der Perk c4ab2797eb Added the notion of BaseSubscriber which allows to 
subsscription for services responses and request and helps the usage of fixed
port subscribers Furthermore move register autconfigure logic from Uavcan.cpp
to NodeManager
 2021-03-09 14:35:50 +01:00
Peter van der Perk 18a8d89fa4 PNP fixed allocation scheme 
Fixed register scheme
Incrased wq:uavcan stack since it overflowed when sending register response
 2021-03-07 21:49:05 +01:00
Peter van der Perk 28c76663cd UAVCANv1 Move PNP from UAVCAN.cpp to NodeManager.cpp 2021-03-07 21:49:05 +01:00
Jacob CrabillandPavel Kirienko 4cca86b5d6 uavcan_v1: Apply feedback from Pavel Kirienko 
Co-authored-by: Pavel Kirienko <pavel.kirienko@gmail.com>
 2021-02-24 19:22:11 +01:00
JacobCrabill a7a7e33614 uavcan_v1: Rename Subscription --> Subscriber 2021-02-24 19:22:11 +01:00
JacobCrabill b5ac6f1eb8 uavcan_v1: Refactor Pub/Sub class constrctors 
Each class now sets the 'subject name', and the base class looks for a
parameter following the format uavcan.pub/sub.SUBJECT_NAME.INSTANCE.id
 2021-02-24 19:22:11 +01:00
JacobCrabill c8e66a2f5c uavcan_v1: Rename Publication --> Publisher 2021-02-24 19:22:11 +01:00
JacobCrabill e654fe71f5 uavcan_v1: Fix 'unset' port ID (use 65535) 2021-02-24 19:22:11 +01:00
JacobCrabill 935bf75b61 uavcan_v1: Fix bugs in MixingOutput / EscClient 
Also add commented-out code for use with PR-16808
(MixingOutput + output_control)
Bench-tested PWM output on a Pixracer via UAVCANv1 ESC commands from a
Pixhawk 4.
 2021-02-24 19:22:11 +01:00
JacobCrabill 04ea1cf5c6 uavcan_v1: Add to EscClient implementation 
Add outline of EscServer implementation
Add some comments and cleanup
 2021-02-24 19:22:11 +01:00
JacobCrabill 4b73566b76 uavcan_v1: Add Publisher base; Gnss Publisher 2021-02-24 19:22:11 +01:00
JacobCrabill 216a66b535 uavcan_v1: Remove unused vars 2021-02-24 19:22:11 +01:00
JacobCrabill 35f822fca6 uavcan_v1: Working ESC setpoint pub/sub 2021-02-24 19:22:11 +01:00
JacobCrabill 170345040a uavcan_v1: Add rough ESC Client; Reorg Subscribers 2021-02-24 19:22:11 +01:00