From 7813566e6680f4940989fb91760ddb0782b05858 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Tue, 6 May 2014 19:30:45 +0400
Subject: Initial UAVCAN integration. The library compiles successfully, CAN
 driver appears to be working properly. There is one hardcoded path in the
 module makefile that needs to be fixed; plus the compilation will likely fail
 unless arch/math.h contains log2l()

---
 src/modules/uavcan/uavcan_main.cpp | 100 +++++++++++++++++++++++++++++++++++++
 1 file changed, 100 insertions(+)
 create mode 100644 src/modules/uavcan/uavcan_main.cpp

(limited to 'src/modules/uavcan/uavcan_main.cpp')

diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
new file mode 100644
index 000000000..fbb2e174b
--- /dev/null
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -0,0 +1,100 @@
+/****************************************************************************
+ *
+ *   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 "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[])
+{
+	stm32_configgpio(GPIO_CAN1_RX);
+	stm32_configgpio(GPIO_CAN1_TX);
+	stm32_configgpio(GPIO_CAN2_RX);
+	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;
+}
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