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/****************************************************************************
*
* 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 <arch/chip/chip.h>
#include "uavcan_main.hpp"
/*
* UavcanNode
*/
UavcanNode* UavcanNode::_instance;
int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
{
if (_instance != nullptr) {
warnx("Already started");
return -1;
}
/*
* GPIO config.
* Forced pull up on CAN2 is required for Pixhawk v1 where the second interface lacks a transceiver.
* If no transceiver is connected, the RX pin will float, occasionally causing CAN controller to
* fail during initialization.
*/
stm32_configgpio (GPIO_CAN1_RX);
stm32_configgpio (GPIO_CAN1_TX);
stm32_configgpio(GPIO_CAN2_RX | GPIO_PULLUP);
stm32_configgpio (GPIO_CAN2_TX);
/*
* CAN driver init
*/
static CanInitHelper can;
static bool can_initialized = false;
if (!can_initialized) {
const int can_init_res = can.init(bitrate);
if (can_init_res < 0) {
warnx("CAN driver init failed %i", can_init_res);
return can_init_res;
}
can_initialized = true;
}
/*
* Node init
*/
_instance = new UavcanNode(can.driver, uavcan_stm32::SystemClock::instance());
if (_instance == nullptr) {
warnx("Out of memory");
return -1;
}
const int node_init_res = _instance->init(node_id);
if (node_init_res < 0) {
delete _instance;
_instance = nullptr;
warnx("Node init failed %i", node_init_res);
return node_init_res;
}
/*
* Start the task. Normally it should never exit.
*/
static auto run_trampoline = [](int, char*[]) {return UavcanNode::_instance->run();};
return task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, StackSize,
static_cast<main_t>(run_trampoline), nullptr);
}
int UavcanNode::init(uavcan::NodeID node_id)
{
uavcan::protocol::SoftwareVersion swver;
swver.major = 12; // TODO fill version info
swver.minor = 34;
_node.setSoftwareVersion(swver);
uavcan::protocol::HardwareVersion hwver;
hwver.major = 42; // TODO fill version info
hwver.minor = 42;
_node.setHardwareVersion(hwver);
_node.setName("org.pixhawk"); // Huh?
_node.setNodeID(node_id);
return _node.start();
}
int UavcanNode::run()
{
_node.setStatusOk();
while (true) {
// TODO: ORB multiplexing
const int res = _node.spin(uavcan::MonotonicDuration::getInfinite());
if (res < 0) {
warnx("Spin error %i", res);
::sleep(1);
}
}
return -1;
}
/*
* App entry point
*/
static void print_usage()
{
warnx("usage: uavcan start <node_id> [can_bitrate]");
}
extern "C" __EXPORT int uavcan_main(int argc, char *argv[]);
int uavcan_main(int argc, char *argv[])
{
constexpr long DEFAULT_CAN_BITRATE = 1000000;
if (argc < 2) {
print_usage();
::exit(1);
}
if (!std::strcmp(argv[1], "start")) {
if (argc < 3) {
print_usage();
::exit(1);
}
/*
* Node ID
*/
const int node_id = atoi(argv[2]);
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
*/
long bitrate = 0;
if (argc > 3) {
bitrate = atol(argv[3]);
}
if (bitrate <= 0) {
bitrate = DEFAULT_CAN_BITRATE;
}
/*
* Start
*/
warnx("Node ID %i, bitrate %li", node_id, bitrate);
return UavcanNode::start(node_id, bitrate);
} else {
print_usage();
::exit(1);
}
return 0;
}
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