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552262f14f
* [feat] allowed to assign up to 16 ESC CAN * Update EscStatus.msg lowered down to 12 motors, hardware tested * Update module.yaml lowered down to 12 motors, hardware tested --------- Co-authored-by: klelkov <kon.lelkov@yandex.ru> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
101 lines
2.9 KiB
YAML
101 lines
2.9 KiB
YAML
__max_num_uavcan_lights: &max_num_uavcan_lights 2 # NOTE: This value must match MAX_NUM_UAVCAN_LIGHTS in rgbled.hpp
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module_name: UAVCAN
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parameters:
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- group: UAVCAN
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definitions:
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UAVCAN_ESC_IFACE:
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description:
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short: Which CAN interfaces to output ESC messages on.
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long: |
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Since ESC messages are high priority and sent at a high rate, it is
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recommended to only enable the interfaces that are actually used.
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Otherwise, the ESC messages will arbitrate lower priority messages and
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starve other nodes on the bus.
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type: bitmask
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bit:
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0: CAN1
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1: CAN2
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2: CAN3
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3: CAN4
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4: CAN5
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5: CAN6
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6: CAN7
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7: CAN8
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default: 255
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min: 1
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max: 255
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reboot_required: true
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UAVCAN_LGT_NUM:
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description:
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short: Number of UAVCAN lights to configure
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long: |
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Number of lights to control via UAVCAN LightsCommand messages.
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Set to 0 to disable UAVCAN light control.
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Each light uses two parameters: LGT_IDx for the light_id and LGT_FNx for the function.
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type: int32
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min: 0
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max: *max_num_uavcan_lights
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default: 1
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reboot_required: true
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UAVCAN_LGT_ID${i}:
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description:
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short: Light ${i} ID
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long: |
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specifies the light_id value for light ${i} in UAVCAN LightsCommand messages.
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This determines which physical LED responds to commands for this light slot.
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type: int32
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num_instances: *max_num_uavcan_lights
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instance_start: 0
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min: 0
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max: 255
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default: 0
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UAVCAN_LGT_FN${i}:
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description:
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short: Light ${i} function
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long: |
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Function for light ${i}.
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UAVCAN_LGT_MODE determines when the first option or second option is active Off/On.
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type: enum
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num_instances: *max_num_uavcan_lights
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instance_start: 0
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min: 0
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max: 9
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default: 0
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values:
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0: Status/Status
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1: Off/White
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2: Off/Red
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3: Off/Green
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4: Status/White
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5: Status/Red
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6: Status/Green
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7: Status/Off
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actuator_output:
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show_subgroups_if: 'UAVCAN_ENABLE>=3'
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config_parameters:
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- param: 'UAVCAN_ENABLE'
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label: 'Configure'
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function: 'enable'
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- param: 'UAVCAN_BITRATE'
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label: 'Bitrate'
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output_groups:
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- param_prefix: UAVCAN_EC
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group_label: 'ESCs'
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channel_label: 'ESC'
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standard_params:
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min: { min: 0, max: 8191, default: 1 }
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max: { min: 0, max: 8191, default: 8191 }
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failsafe: { min: 0, max: 8191 }
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num_channels: 12
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- param_prefix: UAVCAN_SV
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group_label: 'Servos'
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channel_label: 'Servo'
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standard_params:
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disarmed: { min: 0, max: 1000, default: 500 }
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min: { min: 0, max: 1000, default: 0 }
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max: { min: 0, max: 1000, default: 1000 }
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failsafe: { min: 0, max: 1000 }
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num_channels: 8
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