diff options
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.uavcan | 16 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 12 | ||||
| -rw-r--r-- | src/modules/uavcan/module.mk | 3 | ||||
| -rw-r--r-- | src/modules/uavcan/uavcan_main.cpp | 50 | ||||
| -rw-r--r-- | src/modules/uavcan/uavcan_params.c | 73 |
5 files changed, 114 insertions, 40 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.uavcan b/ROMFS/px4fmu_common/init.d/rc.uavcan new file mode 100644 index 000000000..abb76b400 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.uavcan @@ -0,0 +1,16 @@ +#!nsh +# +# UAVCAN initialization script. +# + +if param compare UAVCAN_ENABLE 1 +then + if uavcan start + then + sleep 1 # Sensor autodetection delay + echo "[init] UAVCAN started" + else + echo "[init] ERROR: Could not start UAVCAN" + tone_alarm $TUNE_OUT_ERROR + fi +fi diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index c9e6a27ca..195771905 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -304,11 +304,10 @@ then then if [ $OUTPUT_MODE == uavcan_esc ] then - if uavcan start 1 + if param compare UAVCAN_ENABLE 0 then - echo "CAN UP" - else - echo "CAN ERR" + echo "[init] OVERRIDING UAVCAN_ENABLE = 1" + param set UAVCAN_ENABLE 1 fi fi @@ -448,6 +447,11 @@ then mavlink start $MAVLINK_FLAGS # + # UAVCAN + # + sh /etc/init.d/rc.uavcan + + # # Sensors, Logging, GPS # sh /etc/init.d/rc.sensors 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); + + + |