/****************************************************************************
*
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
* Author: Pavel Kirienko <pavel.kirienko@gmail.com>
*
* 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.
*
****************************************************************************/
#include <cstdlib>
#include <cstring>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
#include <arch/board/board.h>
#include <arch/chip/chip.h>
#include "uavcan_main.hpp"
extern "C" __EXPORT int uavcan_main(int argc, char *argv[]);
namespace
{
uavcan_stm32::CanInitHelper<> can_driver;
void print_usage()
{
warnx("usage: uavcan start [can_bitrate]");
}
int test_thread(int argc, char *argv[])
{
/*
* Forced pull up on CAN2 is required for Pixhawk v1 where the second interface lacks a transceiver.
* If no transceiver is connected, the RX pin will float, occasionally causing CAN controller to
* fail during initialization.
*/
stm32_configgpio(GPIO_CAN1_RX);
stm32_configgpio(GPIO_CAN1_TX);
stm32_configgpio(GPIO_CAN2_RX | GPIO_PULLUP);
stm32_configgpio(GPIO_CAN2_TX);
int res = can_driver.init(1000000);
if (res < 0)
{
errx(res, "CAN driver init failed");
}
while (true)
{
::sleep(1);
auto iface = static_cast<uavcan::ICanIface*>(can_driver.driver.getIface(0));
res = iface->send(uavcan::CanFrame(), uavcan_stm32::clock::getMonotonic(), 0);
warnx("published %i, pending %u", res, can_driver.driver.getIface(0)->getRxQueueLength());
}
return 0;
}
}
int uavcan_main(int argc, char *argv[])
{
if (argc < 2) {
print_usage();
::exit(1);
}
if (!std::strcmp(argv[1], "start")) {
static bool started = false;
if (started)
{
warnx("already started");
::exit(1);
}
started = true;
(void)task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, 3000,
static_cast<main_t>(&test_thread), const_cast<const char**>(argv));
return 0;
} else {
print_usage();
::exit(1);
}
return 0;
}
