mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 04:33:34 +08:00
David Sidrane
8c2678bca1
Supporting direct down loads from ROMFS with preferece give to the files fould on the SD card first. This will allow a user to provide an updated uavcan firware on the SD card, and there is no overhead of coping files from the ROM FS to the SD card.
84 lines
3.4 KiB
C++
84 lines
3.4 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2014 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#pragma once
|
|
|
|
#include <px4_platform_common/px4_config.h>
|
|
|
|
#include <drivers/device/device.h>
|
|
|
|
/**
|
|
* @file uavcan.hpp
|
|
*
|
|
* Public header for the UAVCAN module
|
|
*
|
|
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
|
|
* @author David Sidrane <david_s5@nscdg.com>
|
|
* @author Holger Steinhaus <holger@steinhaus-home.de>
|
|
*/
|
|
|
|
// firmware paths
|
|
#define UAVCAN_MAX_PATH_LENGTH (128 + 40)
|
|
#define UAVCAN_SD_ROOT_PATH "/fs/microsd/"
|
|
#define UAVCAN_FIRMWARE_PATH UAVCAN_SD_ROOT_PATH"ufw"
|
|
#define UAVCAN_ROMFS_FW_PATH "/etc/uavcan/fw"
|
|
#define UAVCAN_ROMFS_FW_PREFIX "_"
|
|
|
|
// logging
|
|
#define UAVCAN_NODE_DB_PATH UAVCAN_SD_ROOT_PATH"/uavcan.db"
|
|
#define UAVCAN_LOG_FILE UAVCAN_NODE_DB_PATH"/trace.log"
|
|
|
|
// device files
|
|
// TODO: split IOCTL interface in ESC and node related functionality, then change UAVCAN_DEVICE_PATH to "/dev/uavcan/node"
|
|
#define UAVCAN_DEVICE_PATH "/dev/uavcan/esc"
|
|
#define UAVCAN_ESC_DEVICE_PATH "/dev/uavcan/esc"
|
|
|
|
// ioctl interface
|
|
#define _UAVCAN_IOC(_n) (_IOC(_UAVCAN_IOCBASE, _n))
|
|
#define _UAVCAN_IOCBASE (0x4000) // IOCTL base for module UAVCAN
|
|
/*
|
|
* Query if node identification is in progress. Returns:
|
|
* EINVAL - not applicable in the current operating mode
|
|
* ETIME - network discovery complete
|
|
* OK (0) - network discovery in progress
|
|
*/
|
|
#define UAVCAN_IOCG_NODEID_INPROGRESS _UAVCAN_IOC(1)
|
|
/*
|
|
* Set hardpoint command. Accepts a pointer to uavcan::equipment::hardpoint::Command; returns nothing.
|
|
* The pointer may be invalidated once the call returns.
|
|
*/
|
|
#define UAVCAN_IOCS_HARDPOINT_SET _UAVCAN_IOC(10)
|
|
|
|
// public prototypes
|
|
extern "C" __EXPORT int uavcan_main(int argc, char *argv[]);
|