__max_num_uavcan_lights: &max_num_uavcan_lights 2 # NOTE: This value must match MAX_NUM_UAVCAN_LIGHTS in rgbled.hpp


module_name: UAVCAN
parameters:
- group: UAVCAN
  definitions:
    UAVCAN_ESC_IFACE:
      description:
        short: Which CAN interfaces to output ESC messages on.
        long: |
          Since ESC messages are high priority and sent at a high rate, it is
          recommended to only enable the interfaces that are actually used.
          Otherwise, the ESC messages will arbitrate lower priority messages and
          starve other nodes on the bus.
      type: bitmask
      bit:
        0: CAN1
        1: CAN2
        2: CAN3
        3: CAN4
        4: CAN5
        5: CAN6
        6: CAN7
        7: CAN8
      default: 255
      min: 1
      max: 255
      reboot_required: true
    UAVCAN_LGT_NUM:
      description:
        short: Number of UAVCAN lights to configure
        long: |
          Number of lights to control via UAVCAN LightsCommand messages.
          Set to 0 to disable UAVCAN light control.
          Each light uses two parameters: LGT_IDx for the light_id and LGT_FNx for the function.
      type: int32
      min: 0
      max: *max_num_uavcan_lights
      default: 1
      reboot_required: true
    UAVCAN_LGT_ID${i}:
      description:
        short: Light ${i} ID
        long: |
          specifies the light_id value for light ${i} in UAVCAN LightsCommand messages.
          This determines which physical LED responds to commands for this light slot.
      type: int32
      num_instances: *max_num_uavcan_lights
      instance_start: 0
      min: 0
      max: 255
      default: 0
    UAVCAN_LGT_FN${i}:
      description:
        short: Light ${i} function
        long: |
          Function for light ${i}.
          UAVCAN_LGT_MODE determines when the first option or second option is active Off/On.
      type: enum
      num_instances: *max_num_uavcan_lights
      instance_start: 0
      min: 0
      max: 9
      default: 0
      values:
        0: Status/Status
        1: Off/White
        2: Off/Red
        3: Off/Green
        4: Status/White
        5: Status/Red
        6: Status/Green
        7: Status/Off
actuator_output:
  show_subgroups_if: 'UAVCAN_ENABLE>=3'
  config_parameters:
    - param: 'UAVCAN_ENABLE'
      label: 'Configure'
      function: 'enable'
    - param: 'UAVCAN_BITRATE'
      label: 'Bitrate'
  output_groups:
    - param_prefix: UAVCAN_EC
      group_label: 'ESCs'
      channel_label: 'ESC'
      standard_params:
        min: { min: 0, max: 8191, default: 1 }
        max: { min: 0, max: 8191, default: 8191 }
        failsafe: { min: 0, max: 8191 }
      num_channels: 12
    - param_prefix: UAVCAN_SV
      group_label: 'Servos'
      channel_label: 'Servo'
      standard_params:
        disarmed: { min: 0, max: 1000, default: 500 }
        min: { min: 0, max: 1000, default: 0 }
        max: { min: 0, max: 1000, default: 1000 }
        failsafe: { min: 0, max: 1000 }
      num_channels: 8