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 *
 *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
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 * 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.
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 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/**
 * UAVCAN v1
 *
 *  0 - UAVCAN disabled.
 *  1 - Enables UAVCANv1
 *
 * @boolean
 * @reboot_required true
 * @group UAVCAN v1
 */
PARAM_DEFINE_INT32(UAVCAN_V1_ENABLE, 0);

/**
 * UAVCAN v1 Node ID.
 *
 * Read the specs at http://uavcan.org to learn more about Node ID.
 *
 * @min 1
 * @max 125
 * @reboot_required true
 * @group UAVCANv1
 */
PARAM_DEFINE_INT32(UAVCAN_V1_ID, 1);

/**
 * UAVCAN/CAN v1 bus bitrate.
 *
 * @unit bit/s
 * @min 20000
 * @max 1000000
 * @reboot_required true
 * @group UAVCAN v1
 */
PARAM_DEFINE_INT32(UAVCAN_V1_BAUD, 1000000);

/**
 * UAVCAN v1 battery mode.
 *
 * @value 0 Disable
 * @value 1 Receive BMSStatus
 * @value 2 Send BMSStatus
 * @reboot_required true
 * @group UAVCAN v1
 */
PARAM_DEFINE_INT32(UAVCAN_V1_BAT_MD, 0);

/**
 * UAVCAN v1 battery port ID.
 *
 * @min 1
 * @max 32767
 * @group UAVCAN v1
 */
PARAM_DEFINE_INT32(UAVCAN_V1_BAT_ID, 4242);

// Subscription Port IDs
PARAM_DEFINE_INT32(UCAN1_ESC0_PID, 0);
PARAM_DEFINE_INT32(UCAN1_GPS0_PID, 0);
PARAM_DEFINE_INT32(UCAN1_GPS1_PID, 0);
PARAM_DEFINE_INT32(UCAN1_BMS0_PID, 0);
PARAM_DEFINE_INT32(UCAN1_BMS1_PID, 0);

// Publication Port IDs
PARAM_DEFINE_INT32(UCAN1_ESC_PUB, 0);
PARAM_DEFINE_INT32(UCAN1_GPS_PUB, 0);
PARAM_DEFINE_INT32(UCAN1_SERVO_PUB, 0);