mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-09 07:40:35 +08:00
Hamish Willee
272 lines
5.2 KiB
C
272 lines
5.2 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* Cyphal
|
|
*
|
|
* 0 - Cyphal disabled.
|
|
* 1 - Enables Cyphal
|
|
*
|
|
* @boolean
|
|
* @reboot_required true
|
|
* @group Cyphal
|
|
*/
|
|
PARAM_DEFINE_INT32(CYPHAL_ENABLE, 1);
|
|
|
|
/**
|
|
* Cyphal Node ID.
|
|
*
|
|
* Read the specs at https://opencyphal.org/ to learn more about Node ID.
|
|
*
|
|
* @min -1
|
|
* @max 125
|
|
* @reboot_required true
|
|
* @group Cyphal
|
|
*/
|
|
PARAM_DEFINE_INT32(CYPHAL_ID, 1);
|
|
|
|
/**
|
|
* UAVCAN/CAN v1 bus bitrate.
|
|
*
|
|
* @unit bit/s
|
|
* @min 20000
|
|
* @max 1000000
|
|
* @reboot_required true
|
|
* @group Cyphal
|
|
*/
|
|
PARAM_DEFINE_INT32(CYPHAL_BAUD, 1000000);
|
|
|
|
/* Subscription port ID, -1 will be treated as unset */
|
|
|
|
/**
|
|
* ESC 0 subscription port ID.
|
|
*
|
|
* @min -1
|
|
* @max 6143
|
|
* @group Cyphal
|
|
*/
|
|
PARAM_DEFINE_INT32(UCAN1_ESC0_SUB, -1);
|
|
|
|
/**
|
|
* GPS 0 subscription port ID.
|
|
*
|
|
* @min -1
|
|
* @max 6143
|
|
* @group Cyphal
|
|
*/
|
|
PARAM_DEFINE_INT32(UCAN1_GPS0_SUB, -1);
|
|
|
|
/**
|
|
* GPS 1 subscription port ID.
|
|
*
|
|
* @min -1
|
|
* @max 6143
|
|
* @group Cyphal
|
|
*/
|
|
PARAM_DEFINE_INT32(UCAN1_GPS1_SUB, -1);
|
|
|
|
/**
|
|
* UDRAL battery energy source subscription port ID.
|
|
*
|
|
* @min -1
|
|
* @max 6143
|
|
* @group Cyphal
|
|
*/
|
|
PARAM_DEFINE_INT32(UCAN1_BMS_ES_SUB, -1);
|
|
|
|
/**
|
|
* UDRAL battery status subscription port ID.
|
|
*
|
|
* @min -1
|
|
* @max 6143
|
|
* @group Cyphal
|
|
*/
|
|
PARAM_DEFINE_INT32(UCAN1_BMS_BS_SUB, -1);
|
|
|
|
/**
|
|
* UDRAL battery parameters subscription port ID.
|
|
*
|
|
* @min -1
|
|
* @max 6143
|
|
* @group Cyphal
|
|
*/
|
|
PARAM_DEFINE_INT32(UCAN1_BMS_BP_SUB, -1);
|
|
|
|
/**
|
|
* Cyphal legacy battery port ID.
|
|
*
|
|
* @min -1
|
|
* @max 6143
|
|
* @group Cyphal
|
|
*/
|
|
PARAM_DEFINE_INT32(UCAN1_LG_BMS_SUB, -1);
|
|
|
|
|
|
/**
|
|
* sensor_gps uORB over Cyphal subscription port ID.
|
|
*
|
|
* @min -1
|
|
* @max 6143
|
|
* @group Cyphal
|
|
*/
|
|
PARAM_DEFINE_INT32(UCAN1_UORB_GPS, -1);
|
|
|
|
|
|
/**
|
|
* sensor_gps uORB over Cyphal publication port ID.
|
|
*
|
|
* @min -1
|
|
* @max 6143
|
|
* @group Cyphal
|
|
*/
|
|
PARAM_DEFINE_INT32(UCAN1_UORB_GPS_P, -1);
|
|
|
|
// Publication Port IDs
|
|
|
|
/**
|
|
* Cyphal ESC publication port ID.
|
|
*
|
|
* @min -1
|
|
* @max 6143
|
|
* @group Cyphal
|
|
*/
|
|
PARAM_DEFINE_INT32(UCAN1_ESC_PUB, -1);
|
|
|
|
/**
|
|
* Cyphal ESC readiness port ID.
|
|
*
|
|
* @min -1
|
|
* @max 6143
|
|
* @group Cyphal
|
|
*/
|
|
PARAM_DEFINE_INT32(UCAN1_READ_PUB, -1);
|
|
|
|
/**
|
|
* Cyphal ESC 0 zubax feedback port ID.
|
|
*
|
|
* @min -1
|
|
* @max 6143
|
|
* @group Cyphal
|
|
*/
|
|
PARAM_DEFINE_INT32(UCAN1_FB0_SUB, -1);
|
|
|
|
/**
|
|
* Cyphal ESC 1 zubax feedback port ID.
|
|
*
|
|
* @min -1
|
|
* @max 6143
|
|
* @group Cyphal
|
|
*/
|
|
PARAM_DEFINE_INT32(UCAN1_FB1_SUB, -1);
|
|
|
|
/**
|
|
* Cyphal ESC 2 zubax feedback port ID.
|
|
*
|
|
* @min -1
|
|
* @max 6143
|
|
* @group Cyphal
|
|
*/
|
|
PARAM_DEFINE_INT32(UCAN1_FB2_SUB, -1);
|
|
|
|
/**
|
|
* Cyphal ESC 3 zubax feedback port ID.
|
|
*
|
|
* @min -1
|
|
* @max 6143
|
|
* @group Cyphal
|
|
*/
|
|
PARAM_DEFINE_INT32(UCAN1_FB3_SUB, -1);
|
|
|
|
/**
|
|
* Cyphal ESC 4 zubax feedback port ID.
|
|
*
|
|
* @min -1
|
|
* @max 6143
|
|
* @group Cyphal
|
|
*/
|
|
PARAM_DEFINE_INT32(UCAN1_FB4_SUB, -1);
|
|
|
|
/**
|
|
* Cyphal ESC 5 zubax feedback port ID.
|
|
*
|
|
* @min -1
|
|
* @max 6143
|
|
* @group Cyphal
|
|
*/
|
|
PARAM_DEFINE_INT32(UCAN1_FB5_SUB, -1);
|
|
|
|
/**
|
|
* Cyphal ESC 6 zubax feedback port ID.
|
|
*
|
|
* @min -1
|
|
* @max 6143
|
|
* @group Cyphal
|
|
*/
|
|
PARAM_DEFINE_INT32(UCAN1_FB6_SUB, -1);
|
|
|
|
/**
|
|
* Cyphal ESC 7 zubax feedback port ID.
|
|
*
|
|
* @min -1
|
|
* @max 6143
|
|
* @group Cyphal
|
|
*/
|
|
PARAM_DEFINE_INT32(UCAN1_FB7_SUB, -1);
|
|
|
|
/**
|
|
* Cyphal GPS publication port ID.
|
|
*
|
|
* @min -1
|
|
* @max 6143
|
|
* @group Cyphal
|
|
*/
|
|
PARAM_DEFINE_INT32(UCAN1_GPS_PUB, -1);
|
|
|
|
/**
|
|
* Cyphal Servo publication port ID.
|
|
*
|
|
* @min -1
|
|
* @max 6143
|
|
* @group Cyphal
|
|
*/
|
|
PARAM_DEFINE_INT32(UCAN1_SERVO_PUB, -1);
|
|
|
|
/**
|
|
* actuator_outputs uORB over Cyphal publication port ID.
|
|
*
|
|
* @min -1
|
|
* @max 6143
|
|
* @group Cyphal
|
|
*/
|
|
PARAM_DEFINE_INT32(UCAN1_ACTR_PUB, -1);
|