mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 19:33:34 +08:00
Daniel Agar
2e2ac36cab
- uavcan firmware server no longer shuts down when arming (nodes might restart in flight) - always handle UAVCAN parameters with or without the FW server active - remove legacy ESC enumeration in FW server
72 lines
2.9 KiB
C++
72 lines
2.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2014 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
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* 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 <px4_platform_common/px4_config.h>
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#include <drivers/device/device.h>
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/**
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* @file uavcan.hpp
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*
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* Public header for the UAVCAN module
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*
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* @author Pavel Kirienko <pavel.kirienko@gmail.com>
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* @author David Sidrane <david_s5@nscdg.com>
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* @author Holger Steinhaus <holger@steinhaus-home.de>
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*/
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// firmware paths
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#define UAVCAN_MAX_PATH_LENGTH (128 + 40)
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#define UAVCAN_SD_ROOT_PATH "/fs/microsd/"
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#define UAVCAN_FIRMWARE_PATH UAVCAN_SD_ROOT_PATH"ufw"
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#define UAVCAN_ROMFS_FW_PATH "/etc/uavcan/fw"
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#define UAVCAN_ROMFS_FW_PREFIX "_"
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// logging
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#define UAVCAN_NODE_DB_PATH UAVCAN_SD_ROOT_PATH"/uavcan.db"
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#define UAVCAN_LOG_FILE UAVCAN_NODE_DB_PATH"/trace.log"
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// device files
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// TODO: split IOCTL interface in ESC and node related functionality, then change UAVCAN_DEVICE_PATH to "/dev/uavcan/node"
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#define UAVCAN_DEVICE_PATH "/dev/uavcan/esc"
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#define UAVCAN_ESC_DEVICE_PATH "/dev/uavcan/esc"
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// ioctl interface
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#define _UAVCAN_IOC(_n) (_IOC(_UAVCAN_IOCBASE, _n))
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#define _UAVCAN_IOCBASE (0x4000) // IOCTL base for module UAVCAN
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// public prototypes
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extern "C" __EXPORT int uavcan_main(int argc, char *argv[]);
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