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Diffstat (limited to 'src/modules/uavcannode/uavcannode_main.hpp')
-rw-r--r-- | src/modules/uavcannode/uavcannode_main.hpp | 101 |
1 files changed, 101 insertions, 0 deletions
diff --git a/src/modules/uavcannode/uavcannode_main.hpp b/src/modules/uavcannode/uavcannode_main.hpp new file mode 100644 index 000000000..4b1ee6efe --- /dev/null +++ b/src/modules/uavcannode/uavcannode_main.hpp @@ -0,0 +1,101 @@ +/**************************************************************************** + * + * Copyright (c) 2015 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 <nuttx/config.h> +#include <uavcan_stm32/uavcan_stm32.hpp> +#include <drivers/device/device.h> + +/** + * @file uavcan_main.hpp + * + * Defines basic functinality of UAVCAN node. + * + * @author Pavel Kirienko <pavel.kirienko@gmail.com> + */ + +#define NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN 1 +#define UAVCAN_DEVICE_PATH "/dev/uavcan/node" + +// we add two to allow for actuator_direct and busevent +#define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+2) + +/** + * A UAVCAN node. + */ +class UavcanNode : public device::CDev +{ + static constexpr unsigned MemPoolSize = 8092; ///< Refer to the libuavcan manual to learn why + static constexpr unsigned RxQueueLenPerIface = 64; + static constexpr unsigned StackSize = 768; + +public: + typedef uavcan::Node<MemPoolSize> Node; + typedef uavcan_stm32::CanInitHelper<RxQueueLenPerIface> CanInitHelper; + + UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock); + + virtual ~UavcanNode(); + + virtual int ioctl(file *filp, int cmd, unsigned long arg); + + static int start(uavcan::NodeID node_id, uint32_t bitrate); + + Node& get_node() { return _node; } + + int teardown(); + + void print_info(); + + static UavcanNode* instance() { return _instance; } + +private: + void fill_node_info(); + int init(uavcan::NodeID node_id); + void node_spin_once(); + int run(); + int add_poll_fd(int fd); ///< add a fd to poll list, returning index into _poll_fds[] + + + int _task = -1; ///< handle to the OS task + bool _task_should_exit = false; ///< flag to indicate to tear down the CAN driver + + static UavcanNode *_instance; ///< singleton pointer + Node _node; ///< library instance + pthread_mutex_t _node_mutex; + + pollfd _poll_fds[UAVCAN_NUM_POLL_FDS] = {}; + unsigned _poll_fds_num = 0; + +}; |