Moved Nuttx Based uavcan bootloader ito PX4 tree

1 files changed, 47 insertions, 0 deletions

diff --git a/src/drivers/boards/px4cannode-v1/bootloader/can/driver.h b/src/drivers/boards/px4cannode-v1/bootloader/can/driver.h
new file mode 100644
index 000000000..138e14ba3
--- /dev/null
+++ b/src/drivers/boards/px4cannode-v1/bootloader/can/driver.h
@@ -0,0 +1,47 @@
+#pragma once
+
+#include "timer.h"
+
+typedef enum
+{
+  CAN_UNKNOWN   = 0,
+  CAN_125KBAUD  = 1,
+  CAN_250KBAUD  = 2,
+  CAN_500KBAUD  = 3,
+  CAN_1MBAUD    = 4
+} can_speed_t;
+
+typedef enum
+{
+  CAN_Mode_Normal = 0,         // Bits 30 and 31 00
+  CAN_Mode_LoopBack = 1,       // Bit 30: Loop Back Mode (Debug)
+  CAN_Mode_Silent = 2,         // Bit 31: Silent Mode (Debug)
+  CAN_Mode_Silent_LoopBack = 3 // Bits 30 and 31 11
+} can_mode_t;
+
+typedef enum
+{
+  fifoAll = 0,
+  MBAll = 0,
+  /*
+  Receive from FIFO 1 -- filters are configured to push the messages there,
+  and this is called from SysTick so needs to avoid the same FIFOs/mailboxes
+  as the rest of the application.
+  */
+
+  fifoGetNodeInfo = 1,
+  MBGetNodeInfo = 1,
+  MBNodeStatus = 1,
+
+
+} can_fifo_mailbox_t;
+
+void can_tx(uint32_t message_id, size_t length,
+            const uint8_t * message, uint8_t mailbox);
+uint8_t can_rx(uint32_t * out_message_id, size_t * out_length,
+               uint8_t * out_message, uint8_t fifo);
+int can_init(can_speed_t speed, can_mode_t mode);
+int can_autobaud(can_speed_t *can_speed, bl_timer_id tboot);
+
+int can_speed2freq(can_speed_t);
+can_speed_t can_freq2speed(int freq);