uavcan_module.hpp
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/****************************************************************************
*
* 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.
*
****************************************************************************/
#pragma once
#include <px4_platform_common/px4_config.h>
#include <drivers/device/device.h>
/**
* @file uavcan.hpp
*
* Public header for the UAVCAN module
*
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
* @author David Sidrane <david_s5@nscdg.com>
* @author Holger Steinhaus <holger@steinhaus-home.de>
*/
// firmware paths
#define UAVCAN_MAX_PATH_LENGTH (128 + 40)
#define UAVCAN_SD_ROOT_PATH "/fs/microsd/"
#define UAVCAN_FIRMWARE_PATH UAVCAN_SD_ROOT_PATH"ufw"
#define UAVCAN_ROMFS_FW_PATH "/etc/uavcan/fw"
#define UAVCAN_ROMFS_FW_PREFIX "_"
// logging
#define UAVCAN_NODE_DB_PATH UAVCAN_SD_ROOT_PATH"/uavcan.db"
#define UAVCAN_LOG_FILE UAVCAN_NODE_DB_PATH"/trace.log"
// device files
// TODO: split IOCTL interface in ESC and node related functionality, then change UAVCAN_DEVICE_PATH to "/dev/uavcan/node"
#define UAVCAN_DEVICE_PATH "/dev/uavcan/esc"
#define UAVCAN_ESC_DEVICE_PATH "/dev/uavcan/esc"
// ioctl interface
#define _UAVCAN_IOC(_n) (_IOC(_UAVCAN_IOCBASE, _n))
#define _UAVCAN_IOCBASE (0x4000) // IOCTL base for module UAVCAN
/*
* Query if node identification is in progress. Returns:
* EINVAL - not applicable in the current operating mode
* ETIME - network discovery complete
* OK (0) - network discovery in progress
*/
#define UAVCAN_IOCG_NODEID_INPROGRESS _UAVCAN_IOC(1)
/*
* Set hardpoint command. Accepts a pointer to uavcan::equipment::hardpoint::Command; returns nothing.
* The pointer may be invalidated once the call returns.
*/
#define UAVCAN_IOCS_HARDPOINT_SET _UAVCAN_IOC(10)
// public prototypes
extern "C" __EXPORT int uavcan_main(int argc, char *argv[]);