New UAVCAN initialization logic

3 files changed, 90 insertions, 36 deletions

diff --git a/src/modules/uavcan/module.mk b/src/modules/uavcan/module.mk
index 26ff7102d..93a1bf96f 100644
--- a/src/modules/uavcan/module.mk
+++ b/src/modules/uavcan/module.mk
@@ -42,7 +42,8 @@ MAXOPTIMIZATION = -Os
 
 # Main
 SRCS += uavcan_main.cpp              \
-        uavcan_clock.cpp
+        uavcan_clock.cpp             \
+        uavcan_params.c
 
 # Actuators
 SRCS += actuators/esc.cpp
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
index 8607af145..a15f83696 100644
--- a/src/modules/uavcan/uavcan_main.cpp
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -38,6 +38,7 @@
 #include <fcntl.h>
 #include <systemlib/err.h>
 #include <systemlib/systemlib.h>
+#include <systemlib/param/param.h>
 #include <systemlib/mixer/mixer.h>
 #include <systemlib/board_serial.h>
 #include <version/version.h>
@@ -587,7 +588,7 @@ void UavcanNode::sensor_print_enabled()
 static void print_usage()
 {
 	warnx("usage: \n"
-	      "\tuavcan start <node_id> [can_bitrate]\n"
+	      "\tuavcan start\n"
 	      "\tuavcan sensor enable <sensor name>\n"
 	      "\tuavcan sensor list");
 
@@ -599,52 +600,32 @@ extern "C" __EXPORT int uavcan_main(int argc, char *argv[]);
 
 int uavcan_main(int argc, char *argv[])
 {
-	constexpr unsigned DEFAULT_CAN_BITRATE = 1000000;
-
 	if (argc < 2) {
 		print_usage();
 		::exit(1);
 	}
 
 	if (!std::strcmp(argv[1], "start")) {
-		if (argc < 3) {
-			print_usage();
-			::exit(1);
+		if (UavcanNode::instance()) {
+			errx(1, "already started");
 		}
 
-		/*
-		 * Node ID
-		 */
-		const int node_id = atoi(argv[2]);
+		// Node ID
+		int32_t node_id = 0;
+		(void)param_get(param_find("UAVCAN_NODE_ID"), &node_id);
 
 		if (node_id < 0 || node_id > uavcan::NodeID::Max || !uavcan::NodeID(node_id).isUnicast()) {
 			warnx("Invalid Node ID %i", node_id);
 			::exit(1);
 		}
 
-		/*
-		 * CAN bitrate
-		 */
-		unsigned bitrate = 0;
-
-		if (argc > 3) {
-			bitrate = atol(argv[3]);
-		}
+		// CAN bitrate
+		int32_t bitrate = 0;
+		(void)param_get(param_find("UAVCAN_BITRATE"), &bitrate);
 
-		if (bitrate <= 0) {
-			bitrate = DEFAULT_CAN_BITRATE;
-		}
-
-		if (UavcanNode::instance()) {
-			errx(1, "already started");
-		}
-
-		/*
-		 * Start
-		 */
+		// Start
 		warnx("Node ID %u, bitrate %u", node_id, bitrate);
 		return UavcanNode::start(node_id, bitrate);
-
 	}
 
 	/* commands below require the app to be started */
@@ -655,14 +636,13 @@ int uavcan_main(int argc, char *argv[])
 	}
 
 	if (!std::strcmp(argv[1], "status") || !std::strcmp(argv[1], "info")) {
-		
-			inst->print_info();
-			::exit(0);
+		inst->print_info();
+		::exit(0);
 	}
 
 	if (!std::strcmp(argv[1], "stop")) {
-			delete inst;
-			::exit(0);
+		delete inst;
+		::exit(0);
 	}
 
 	if (!std::strcmp(argv[1], "sensor")) {
diff --git a/src/modules/uavcan/uavcan_params.c b/src/modules/uavcan/uavcan_params.c
new file mode 100644
index 000000000..e6ea8a8fb
--- /dev/null
+++ b/src/modules/uavcan/uavcan_params.c
@@ -0,0 +1,73 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/**
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <nuttx/config.h>
+#include <systemlib/param/param.h>
+
+/**
+ * Enable UAVCAN.
+ *
+ * Enables support for UAVCAN-interfaced actuators and sensors.
+ *
+ * @min 0
+ * @max 1
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_ENABLE, 0);
+
+/**
+ * UAVCAN Node ID.
+ *
+ * Read the specs at http://uavcan.org to learn more about Node ID.
+ *
+ * @min 1
+ * @max 125
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_NODE_ID, 1);
+
+/**
+ * UAVCAN CAN bus bitrate.
+ *
+ * @min 20000
+ * @max 1000000
+ * @group UAVCAN
+ */
+PARAM_DEFINE_INT32(UAVCAN_BITRATE, 1000000);
+
+
+