A UAVCAN node. More...

#include <uavcan_main.hpp>

Inheritance diagram for UavcanNode:

Collaboration diagram for UavcanNode:

Public Types
enum	eServerAction : int { None, Start, Stop, CheckFW, Busy }

typedef UAVCAN_DRIVER::CanInitHelper< RxQueueLenPerIface >	CanInitHelper

typedef uavcan::Node< MemPoolSize >	Node

typedef uavcan_stm32::CanInitHelper< RxQueueLenPerIface >	CanInitHelper

typedef uavcan::protocol::file::BeginFirmwareUpdate	BeginFirmwareUpdate

Public Member Functions
	UavcanNode (uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock)

virtual	~UavcanNode ()

virtual int	ioctl (file *filp, int cmd, unsigned long arg)

uavcan::Node &	get_node ()

int	teardown ()

void	print_info ()

void	shrink ()

void	hardpoint_controller_set (uint8_t hardpoint_id, uint16_t command)

int	fw_server (eServerAction action)

void	attachITxQueueInjector (ITxQueueInjector *injector)

int	list_params (int remote_node_id)

int	save_params (int remote_node_id)

int	set_param (int remote_node_id, const char name, char value)

int	get_param (int remote_node_id, const char *name)

int	reset_node (int remote_node_id)

	UavcanNode (uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock)

virtual	~UavcanNode ()

virtual int	ioctl (file *filp, int cmd, unsigned long arg)

Node &	get_node ()

int	teardown ()

void	print_info ()

Public Member Functions inherited from cdev::CDev
	CDev (const char *devname)
	Constructor. More...

	CDev (const CDev &)=delete

CDev &	operator= (const CDev &)=delete

	CDev (CDev &&)=delete

CDev &	operator= (CDev &&)=delete

virtual	~CDev ()

virtual int	init ()

virtual int	open (file_t *filep)
	Handle an open of the device. More...

virtual int	close (file_t *filep)
	Handle a close of the device. More...

virtual ssize_t	read (file_t filep, char buffer, size_t buflen)
	Perform a read from the device. More...

virtual ssize_t	write (file_t filep, const char buffer, size_t buflen)
	Perform a write to the device. More...

virtual off_t	seek (file_t *filep, off_t offset, int whence)
	Perform a logical seek operation on the device. More...

virtual int	ioctl (file_t *filep, int cmd, unsigned long arg)
	Perform an ioctl operation on the device. More...

virtual int	poll (file_t filep, px4_pollfd_struct_t fds, bool setup)
	Perform a poll setup/teardown operation. More...

const char *	get_devname () const
	Get the device name. More...

Static Public Member Functions
static int	start (uavcan::NodeID node_id, uint32_t bitrate)

static UavcanNode *	instance ()

static int	getHardwareVersion (uavcan::protocol::HardwareVersion &hwver)

static void	busevent_signal_trampoline ()

static int	start (uavcan::NodeID node_id, uint32_t bitrate)

static UavcanNode *	instance ()

Public Attributes
int32_t	active_bitrate

uavcan::TimerEventForwarder< void(*)(const uavcan::TimerEvent &)>	_reset_timer

Protected Member Functions
void	Run () override

Protected Member Functions inherited from cdev::CDev
virtual pollevent_t	poll_state (file_t *filep)
	Check the current state of the device for poll events from the perspective of the file. More...

virtual void	poll_notify (pollevent_t events)
	Report new poll events. More...

virtual void	poll_notify_one (px4_pollfd_struct_t *fds, pollevent_t events)
	Internal implementation of poll_notify. More...

virtual int	open_first (file_t *filep)
	Notification of the first open. More...

virtual int	close_last (file_t *filep)
	Notification of the last close. More...

virtual int	register_class_devname (const char *class_devname)
	Register a class device name, automatically adding device class instance suffix if need be. More...

virtual int	unregister_class_devname (const char *class_devname, unsigned class_instance)
	Register a class device name, automatically adding device class instance suffix if need be. More...

void	lock ()
	Take the driver lock. More...

void	unlock ()
	Release the driver lock. More...

int	unregister_driver_and_memory ()
	First, unregisters the driver. More...

Private Types
typedef uavcan::MethodBinder< UavcanNode , void(UavcanNode::)(const uavcan::TimerEvent &)>	TimerCallback

typedef uavcan::MethodBinder< UavcanNode , void(UavcanNode::)(const uavcan::ServiceCallResult< uavcan::protocol::param::GetSet > &)>	GetSetCallback

typedef uavcan::MethodBinder< UavcanNode , void(UavcanNode::)(const uavcan::ServiceCallResult< uavcan::protocol::param::ExecuteOpcode > &)>	ExecuteOpcodeCallback

typedef uavcan::MethodBinder< UavcanNode , void(UavcanNode::)(const uavcan::ServiceCallResult< uavcan::protocol::RestartNode > &)>	RestartNodeCallback

typedef uavcan::MethodBinder< UavcanNode , void(UavcanNode::)(const uavcan::ReceivedDataStructure< UavcanNode::BeginFirmwareUpdate::Request > &, uavcan::ServiceResponseDataStructure< UavcanNode::BeginFirmwareUpdate::Response > &)>	BeginFirmwareUpdateCallBack

Private Member Functions
void	fill_node_info ()

int	init (uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events)

void	node_spin_once ()

int	start_fw_server ()

int	stop_fw_server ()

int	request_fw_check ()

int	print_params (uavcan::protocol::param::GetSet::Response &resp)

int	get_set_param (int nodeid, const char *name, uavcan::protocol::param::GetSet::Request &req)

void	update_params ()

void	set_setget_response (uavcan::protocol::param::GetSet::Response *resp)

void	free_setget_response (void)

void	enable_idle_throttle_when_armed (bool value)

void	handle_time_sync (const uavcan::TimerEvent &)

void	cb_setget (const uavcan::ServiceCallResult< uavcan::protocol::param::GetSet > &result)

void	cb_opcode (const uavcan::ServiceCallResult< uavcan::protocol::param::ExecuteOpcode > &result)

void	cb_restart (const uavcan::ServiceCallResult< uavcan::protocol::RestartNode > &result)

void	fill_node_info ()

int	init (uavcan::NodeID node_id, uavcan_stm32::BusEvent &bus_events)

void	node_spin_once ()

int	run ()

void	cb_beginfirmware_update (const uavcan::ReceivedDataStructure< UavcanNode::BeginFirmwareUpdate::Request > &req, uavcan::ServiceResponseDataStructure< UavcanNode::BeginFirmwareUpdate::Response > &rsp)

Static Private Member Functions
static void	busevent_signal_trampoline ()

Private Attributes
px4::atomic_bool	_task_should_exit {false}
	flag to indicate to tear down the CAN driver More...

px4::atomic< int >	_fw_server_action {None}

int	_fw_server_status {-1}

bool	_is_armed {false}
	the arming status of the actuators on the bus More...

unsigned	_output_count {0}
	number of actuators currently available More...

uavcan_node::Allocator	_pool_allocator

uavcan::Node	_node
	library instance More...

pthread_mutex_t	_node_mutex

px4_sem_t	_server_command_sem

UavcanEscController	_esc_controller

UavcanMixingInterface	_mixing_interface {_node_mutex, _esc_controller}

UavcanHardpointController	_hardpoint_controller

uavcan::GlobalTimeSyncMaster	_time_sync_master

uavcan::GlobalTimeSyncSlave	_time_sync_slave

uavcan::NodeStatusMonitor	_node_status_monitor

List< IUavcanSensorBridge * >	_sensor_bridges
	List of active sensor bridges. More...

ITxQueueInjector *	_tx_injector {nullptr}

bool	_idle_throttle_when_armed {false}

int32_t	_idle_throttle_when_armed_param {0}

uORB::Subscription	_parameter_update_sub {ORB_ID(parameter_update)}

perf_counter_t	_cycle_perf

perf_counter_t	_interval_perf

uavcan::TimerEventForwarder< TimerCallback >	_master_timer

bool	_callback_success {false}

uavcan::protocol::param::GetSet::Response *	_setget_response {nullptr}

px4_sem_t	_sem
	semaphore for scheduling the task More...

int	_task = -1
	handle to the OS task More...

bool	_task_should_exit = false
	flag to indicate to tear down the CAN driver More...

Node	_node
	library instance More...

uavcan::ServiceServer< BeginFirmwareUpdate, BeginFirmwareUpdateCallBack >	_fw_update_listner

Static Private Attributes
static constexpr unsigned	MaxBitRatePerSec = 1000000

static constexpr unsigned	bitPerFrame = 148

static constexpr unsigned	FramePerSecond = MaxBitRatePerSec / bitPerFrame

static constexpr unsigned	FramePerMSecond = ((FramePerSecond / 1000) + 1)

static constexpr unsigned	ScheduleIntervalMs = 3

static constexpr unsigned	RxQueueLenPerIface = FramePerMSecond * ScheduleIntervalMs

static UavcanNode *	_instance
	singleton pointer More...

static constexpr unsigned	MemPoolSize = 2048

static constexpr unsigned	StackSize = 2500

Additional Inherited Members
Protected Attributes inherited from cdev::CDev
px4_sem_t	_lock
	lock to protect access to all class members (also for derived classes) More...

Static Protected Attributes inherited from cdev::CDev
static const px4_file_operations_t	fops = {}
	Pointer to the default cdev file operations table; useful for registering clone devices etc. More...

Detailed Description

A UAVCAN node.

Definition at line 107 of file uavcan_main.hpp.

Member Typedef Documentation

◆ BeginFirmwareUpdate

typedef uavcan::protocol::file::BeginFirmwareUpdate UavcanNode::BeginFirmwareUpdate

Definition at line 95 of file uavcannode_main.hpp.

◆ BeginFirmwareUpdateCallBack

typedef uavcan::MethodBinder<UavcanNode *, void (UavcanNode::*)(const uavcan::ReceivedDataStructure<UavcanNode::BeginFirmwareUpdate::Request> &, uavcan::ServiceResponseDataStructure<UavcanNode::BeginFirmwareUpdate::Response> &)> UavcanNode::BeginFirmwareUpdateCallBack

private

Definition at line 139 of file uavcannode_main.hpp.

◆ CanInitHelper [1/2]

typedef uavcan_stm32::CanInitHelper<RxQueueLenPerIface> UavcanNode::CanInitHelper

Definition at line 94 of file uavcannode_main.hpp.

◆ CanInitHelper [2/2]

typedef UAVCAN_DRIVER::CanInitHelper<RxQueueLenPerIface> UavcanNode::CanInitHelper

Definition at line 132 of file uavcan_main.hpp.

◆ ExecuteOpcodeCallback

typedef uavcan::MethodBinder<UavcanNode *, void (UavcanNode::*)(const uavcan::ServiceCallResult<uavcan::protocol::param::ExecuteOpcode> &)> UavcanNode::ExecuteOpcodeCallback

private

Definition at line 231 of file uavcan_main.hpp.

◆ GetSetCallback

typedef uavcan::MethodBinder<UavcanNode *, void (UavcanNode::*)(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &)> UavcanNode::GetSetCallback

private

Definition at line 229 of file uavcan_main.hpp.

◆ Node

typedef uavcan::Node<MemPoolSize> UavcanNode::Node

Definition at line 93 of file uavcannode_main.hpp.

◆ RestartNodeCallback

typedef uavcan::MethodBinder<UavcanNode *, void (UavcanNode::*)(const uavcan::ServiceCallResult<uavcan::protocol::RestartNode> &)> UavcanNode::RestartNodeCallback

private

Definition at line 233 of file uavcan_main.hpp.

◆ TimerCallback

typedef uavcan::MethodBinder<UavcanNode *, void (UavcanNode::*)(const uavcan::TimerEvent &)> UavcanNode::TimerCallback

private

Definition at line 221 of file uavcan_main.hpp.

Member Enumeration Documentation

◆ eServerAction

enum UavcanNode::eServerAction : int

Enumerator
None
Start
Stop
CheckFW
Busy

Definition at line 133 of file uavcan_main.hpp.

Constructor & Destructor Documentation

◆ UavcanNode() [1/2]

UavcanNode::UavcanNode	(	uavcan::ICanDriver &	can_driver,
		uavcan::ISystemClock &	system_clock
	)

Definition at line 78 of file uavcan_main.cpp.

References _node_mutex, and _server_command_sem.

Referenced by start().

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◆ ~UavcanNode() [1/2]

UavcanNode::~UavcanNode ( )

virtual

Definition at line 108 of file uavcan_main.cpp.

References _cycle_perf, _instance, _interval_perf, _node_mutex, _sensor_bridges, _server_command_sem, _task_should_exit, fw_server(), perf_free(), and Stop.

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◆ UavcanNode() [2/2]

UavcanNode::UavcanNode	(	uavcan::ICanDriver &	can_driver,
		uavcan::ISystemClock &	system_clock
	)

◆ ~UavcanNode() [2/2]

virtual UavcanNode::~UavcanNode ( )

virtual

Member Function Documentation

◆ attachITxQueueInjector()

void UavcanNode::attachITxQueueInjector ( ITxQueueInjector * injector )

inline

Definition at line 156 of file uavcan_main.hpp.

References ToneAlarmInterface::init(), name, UavcanMixingInterface::Run(), and update_params().

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◆ busevent_signal_trampoline() [1/2]

static void UavcanNode::busevent_signal_trampoline ( )

staticprivate

◆ busevent_signal_trampoline() [2/2]

void UavcanNode::busevent_signal_trampoline ( )

static

Definition at line 585 of file uavcan_main.cpp.

References _instance.

Referenced by init(), and signal_callback().

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◆ cb_beginfirmware_update()

void UavcanNode::cb_beginfirmware_update	(	const uavcan::ReceivedDataStructure< UavcanNode::BeginFirmwareUpdate::Request > &	req,
		uavcan::ServiceResponseDataStructure< UavcanNode::BeginFirmwareUpdate::Response > &	rsp
	)

private

Definition at line 265 of file uavcannode_main.cpp.

References App, bootloader_app_shared_write(), bootloader_app_shared_t::bus_speed, cb_reboot(), bootloader_app_shared_t::node_id, and rgb_led().

Referenced by init().

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◆ cb_opcode()

void UavcanNode::cb_opcode ( const uavcan::ServiceCallResult< uavcan::protocol::param::ExecuteOpcode > & result )

private

Definition at line 187 of file uavcan_main.cpp.

References _callback_success.

Referenced by save_params().

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◆ cb_restart()

void UavcanNode::cb_restart ( const uavcan::ServiceCallResult< uavcan::protocol::RestartNode > & result )

private

Definition at line 220 of file uavcan_main.cpp.

References _callback_success.

Referenced by reset_node().

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◆ cb_setget()

void UavcanNode::cb_setget ( const uavcan::ServiceCallResult< uavcan::protocol::param::GetSet > & result )

private

Definition at line 284 of file uavcan_main.cpp.

References _callback_success, and _setget_response.

Referenced by get_set_param().

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◆ enable_idle_throttle_when_armed()

void UavcanNode::enable_idle_throttle_when_armed ( bool value )

private

Definition at line 800 of file uavcan_main.cpp.

References _idle_throttle_when_armed, _idle_throttle_when_armed_param, _mixing_interface, UavcanMixingInterface::mixingOutput(), and MixingOutput::setAllMinValues().

Referenced by init(), and Run().

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◆ fill_node_info() [1/2]

void UavcanNode::fill_node_info ( )

private

◆ fill_node_info() [2/2]

void UavcanNode::fill_node_info ( )

private

Definition at line 561 of file uavcan_main.cpp.

References _node, getHardwareVersion(), and px4_firmware_version_string().

Referenced by init().

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◆ free_setget_response()

void UavcanNode::free_setget_response ( void )

inlineprivate

Definition at line 181 of file uavcan_main.hpp.

Referenced by get_param(), list_params(), and set_param().

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◆ fw_server()

int UavcanNode::fw_server ( eServerAction action )

Definition at line 480 of file uavcan_main.cpp.

References _fw_server_action, _fw_server_status, _server_command_sem, CheckFW, None, Start, and Stop.

Referenced by uavcan_main(), and ~UavcanNode().

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◆ get_node() [1/2]

Node& UavcanNode::get_node ( )

inline

Definition at line 105 of file uavcannode_main.hpp.

References _node, print_info(), and teardown().

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◆ get_node() [2/2]

uavcan::Node& UavcanNode::get_node ( )

inline

Definition at line 143 of file uavcan_main.hpp.

References command.

Referenced by uavcan_main().

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◆ get_param()

int UavcanNode::get_param	(	int	remote_node_id,
		const char *	name
	)

Definition at line 385 of file uavcan_main.cpp.

References free_setget_response(), get_set_param(), print_params(), and set_setget_response().

Referenced by uavcan_main().

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◆ get_set_param()

int UavcanNode::get_set_param	(	int	nodeid,
		const char *	name,
		uavcan::protocol::param::GetSet::Request &	req
	)

private

Definition at line 291 of file uavcan_main.cpp.

References _callback_success, _node, cb_setget(), and name.

Referenced by get_param(), list_params(), and set_param().

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◆ getHardwareVersion()

int UavcanNode::getHardwareVersion ( uavcan::protocol::HardwareVersion & hwver )

static

Definition at line 142 of file uavcan_main.cpp.

References instance(), and px4_board_name().

Referenced by fill_node_info(), and UavcanServers::init().

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◆ handle_time_sync()

void UavcanNode::handle_time_sync ( const uavcan::TimerEvent & )

private

Definition at line 674 of file uavcan_main.cpp.

References _node, _time_sync_master, and _time_sync_slave.

Referenced by Run().

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◆ hardpoint_controller_set()

void UavcanNode::hardpoint_controller_set	(	uint8_t	hardpoint_id,
		uint16_t	command
	)

Definition at line 986 of file uavcan_main.cpp.

References _hardpoint_controller, _node_mutex, and UavcanHardpointController::set_command().

Referenced by uavcan_main().

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◆ init() [1/2]

int UavcanNode::init	(	uavcan::NodeID	node_id,
		uavcan_stm32::BusEvent &	bus_events
	)

private

Definition at line 290 of file uavcannode_main.cpp.

References busevent_signal_trampoline(), cb_beginfirmware_update(), ToneAlarmInterface::init(), and OK.

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◆ init() [2/2]

int UavcanNode::init	(	uavcan::NodeID	node_id,
		UAVCAN_DRIVER::BusEvent &	bus_events
	)

private

Definition at line 594 of file uavcan_main.cpp.

References _esc_controller, _hardpoint_controller, _idle_throttle_when_armed_param, _mixing_interface, _node, _sensor_bridges, busevent_signal_trampoline(), UavcanEscController::DISARMED_OUTPUT_VALUE, enable_idle_throttle_when_armed(), fill_node_info(), UavcanHardpointController::init(), UavcanEscController::init(), ToneAlarmInterface::init(), IUavcanSensorBridge::make_all(), UavcanEscController::max_output_value(), UavcanEscController::MAX_RATE_HZ, UavcanMixingInterface::mixingOutput(), OK, param_find(), param_get(), MixingOutput::setAllDisarmedValues(), MixingOutput::setAllMaxValues(), MixingOutput::setAllMinValues(), and MixingOutput::setMaxTopicUpdateRate().

Referenced by start().

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◆ instance() [1/2]

static UavcanNode* UavcanNode::instance ( )

inlinestatic

Definition at line 111 of file uavcannode_main.hpp.

References _instance.

◆ instance() [2/2]

static UavcanNode* UavcanNode::instance ( )

inlinestatic

Definition at line 153 of file uavcan_main.hpp.

Referenced by getHardwareVersion(), uavcan_main(), and uavcannode_main().

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◆ ioctl() [1/2]

virtual int UavcanNode::ioctl	(	file *	filp,
		int	cmd,
		unsigned long	arg
	)

virtual

◆ ioctl() [2/2]

int UavcanNode::ioctl	(	file *	filp,
		int	cmd,
		unsigned long	arg
	)

virtual

Definition at line 818 of file uavcan_main.cpp.

References _hardpoint_controller, _mixing_interface, UavcanServers::guessIfAllDynamicNodesAreAllocated(), UavcanServers::instance(), MixingOutput::loadMixerThreadSafe(), cdev::CDev::lock(), MIXERIOCLOADBUF, MIXERIOCRESET, UavcanMixingInterface::mixingOutput(), OK, PWM_SERVO_CLEAR_ARM_OK, PWM_SERVO_SET_ARM_OK, PWM_SERVO_SET_FORCE_SAFETY_OFF, MixingOutput::resetMixerThreadSafe(), UavcanHardpointController::set_command(), UAVCAN_IOCG_NODEID_INPROGRESS, UAVCAN_IOCS_HARDPOINT_SET, and cdev::CDev::unlock().

Referenced by run().

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◆ list_params()

int UavcanNode::list_params ( int remote_node_id )

Definition at line 253 of file uavcan_main.cpp.

References _callback_success, free_setget_response(), get_set_param(), print_params(), and set_setget_response().

Referenced by uavcan_main().

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◆ node_spin_once() [1/2]

void UavcanNode::node_spin_once ( )

private

◆ node_spin_once() [2/2]

void UavcanNode::node_spin_once ( )

private

Definition at line 659 of file uavcan_main.cpp.

References _node, _tx_injector, and ITxQueueInjector::injectTxFramesInto().

Referenced by RestartRequestHandler::handleRestartRequest(), and Run().

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◆ print_info() [1/2]

void UavcanNode::print_info ( )

◆ print_info() [2/2]

void UavcanNode::print_info ( void )

Definition at line 912 of file uavcan_main.cpp.

References _cycle_perf, _interval_perf, _mixing_interface, _node, _node_mutex, _node_status_monitor, _pool_allocator, _sensor_bridges, UavcanMixingInterface::mixingOutput(), perf_print_counter(), and MixingOutput::printStatus().

Referenced by get_node(), run(), uavcan_main(), and uavcannode_main().

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◆ print_params()

int UavcanNode::print_params ( uavcan::protocol::param::GetSet::Response & resp )

private

Definition at line 164 of file uavcan_main.cpp.

Referenced by get_param(), and list_params().

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◆ request_fw_check()

int UavcanNode::request_fw_check ( )

private

Definition at line 439 of file uavcan_main.cpp.

References _fw_server_action, _server_command_sem, Busy, UavcanServers::instance(), None, and UavcanServers::requestCheckAllNodesFirmwareAndUpdate().

Referenced by Run().

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◆ reset_node()

int UavcanNode::reset_node ( int remote_node_id )

Definition at line 229 of file uavcan_main.cpp.

References _callback_success, _node, and cb_restart().

Referenced by uavcan_main().

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◆ run()

int UavcanNode::run ( )

private

Definition at line 367 of file uavcannode_main.cpp.

References df_bebop_bus_wrapper::_task_should_exit, file, uavcan_stm32::clock::getUtc(), uavcan_stm32::clock::getUtcJumpCount(), uavcan_stm32::clock::getUtcRateCorrectionPPM(), hrt_call_every(), hrt_cancel(), init_indication_controller(), init_sim_controller(), ioctl(), uavcan_stm32::clock::isUtcLocked(), MicroBenchHRT::lock(), OK, print_info(), resources, restart_request_handler, signal_callback(), teardown(), MicroBenchHRT::unlock(), and warnx.

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◆ Run()

void UavcanNode::Run ( )

overrideprotected

Definition at line 716 of file uavcan_main.cpp.

References _cycle_perf, _fw_server_action, _fw_server_status, _instance, _interval_perf, _master_timer, _mixing_interface, _node, _node_mutex, _node_status_monitor, _output_count, _parameter_update_sub, _task_should_exit, _time_sync_slave, uavcan_kinetis::clock::adjustUtc(), armed, MixingOutput::armed(), CheckFW, uORB::Subscription::copy(), enable_idle_throttle_when_armed(), handle_time_sync(), hrt_absolute_time(), UavcanMixingInterface::mixingOutput(), node_spin_once(), None, perf_begin(), perf_count(), perf_end(), request_fw_check(), actuator_armed_s::soft_stop, Start, start_fw_server(), Stop, stop_fw_server(), teardown(), MixingOutput::unregister(), update_params(), and uORB::Subscription::updated().

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◆ save_params()

int UavcanNode::save_params ( int remote_node_id )

Definition at line 196 of file uavcan_main.cpp.

References _callback_success, _node, and cb_opcode().

Referenced by uavcan_main().

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◆ set_param()

int UavcanNode::set_param	(	int	remote_node_id,
		const char *	name,
		char *	value
	)

Definition at line 317 of file uavcan_main.cpp.

References f(), free_setget_response(), get_set_param(), math::max(), math::min(), and set_setget_response().

Referenced by uavcan_main().

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◆ set_setget_response()

void UavcanNode::set_setget_response ( uavcan::protocol::param::GetSet::Response * resp )

inlineprivate

Definition at line 180 of file uavcan_main.hpp.

Referenced by get_param(), list_params(), and set_param().

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◆ shrink()

void UavcanNode::shrink ( )

Definition at line 978 of file uavcan_main.cpp.

References _node_mutex, and _pool_allocator.

Referenced by uavcan_main().

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◆ start() [1/2]

static int UavcanNode::start	(	uavcan::NodeID	node_id,
		uint32_t	bitrate
	)

static

◆ start() [2/2]

int UavcanNode::start	(	uavcan::NodeID	node_id,
		uint32_t	bitrate
	)

static

Definition at line 505 of file uavcan_main.cpp.

References _instance, init(), ll40ls::instance, OK, ScheduleIntervalMs, and UavcanNode().

Referenced by uavcan_main(), and uavcannode_start().

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◆ start_fw_server()

int UavcanNode::start_fw_server ( )

private

Definition at line 412 of file uavcan_main.cpp.

References _fw_server_action, _node, _server_command_sem, _tx_injector, UavcanServers::attachITxQueueInjector(), Busy, UavcanServers::instance(), None, and UavcanServers::start().

Referenced by Run().

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◆ stop_fw_server()

int UavcanNode::stop_fw_server ( )

private

Definition at line 456 of file uavcan_main.cpp.

References _fw_server_action, _server_command_sem, _tx_injector, Busy, UavcanServers::instance(), None, and UavcanServers::stop().

Referenced by Run().

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◆ teardown() [1/2]

int UavcanNode::teardown ( )

◆ teardown() [2/2]

int UavcanNode::teardown ( )

Definition at line 811 of file uavcan_main.cpp.

References _server_command_sem.

Referenced by get_node(), run(), and Run().

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◆ update_params()

void UavcanNode::update_params ( )

private

Definition at line 406 of file uavcan_main.cpp.

References _mixing_interface.

Referenced by Run().

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Member Data Documentation

◆ _callback_success

bool UavcanNode::_callback_success {false}

private

Definition at line 224 of file uavcan_main.hpp.

Referenced by cb_opcode(), cb_restart(), cb_setget(), get_set_param(), list_params(), reset_node(), and save_params().

◆ _cycle_perf

perf_counter_t UavcanNode::_cycle_perf

private

Definition at line 216 of file uavcan_main.hpp.

Referenced by print_info(), Run(), and ~UavcanNode().

◆ _esc_controller

UavcanEscController UavcanNode::_esc_controller

private

Definition at line 200 of file uavcan_main.hpp.

Referenced by init(), UavcanMixingInterface::mixerChanged(), and UavcanMixingInterface::updateOutputs().

◆ _fw_server_action

px4::atomic<int> UavcanNode::_fw_server_action {None}

private

Definition at line 186 of file uavcan_main.hpp.

Referenced by fw_server(), request_fw_check(), Run(), start_fw_server(), and stop_fw_server().

◆ _fw_server_status

int UavcanNode::_fw_server_status {-1}

private

Definition at line 187 of file uavcan_main.hpp.

Referenced by fw_server(), and Run().

◆ _fw_update_listner

uavcan::ServiceServer<BeginFirmwareUpdate, BeginFirmwareUpdateCallBack> UavcanNode::_fw_update_listner

private

Definition at line 141 of file uavcannode_main.hpp.

◆ _hardpoint_controller

UavcanHardpointController UavcanNode::_hardpoint_controller

private

Definition at line 202 of file uavcan_main.hpp.

Referenced by hardpoint_controller_set(), init(), and ioctl().

◆ _idle_throttle_when_armed

bool UavcanNode::_idle_throttle_when_armed {false}

private

Definition at line 211 of file uavcan_main.hpp.

Referenced by enable_idle_throttle_when_armed().

◆ _idle_throttle_when_armed_param

int32_t UavcanNode::_idle_throttle_when_armed_param {0}

private

Definition at line 212 of file uavcan_main.hpp.

Referenced by enable_idle_throttle_when_armed(), and init().

◆ _instance

static UavcanNode * UavcanNode::_instance

staticprivate

singleton pointer

Definition at line 193 of file uavcan_main.hpp.

Referenced by busevent_signal_trampoline(), instance(), Run(), start(), and ~UavcanNode().

◆ _interval_perf

perf_counter_t UavcanNode::_interval_perf

private

Definition at line 217 of file uavcan_main.hpp.

Referenced by print_info(), Run(), and ~UavcanNode().

◆ _is_armed

bool UavcanNode::_is_armed {false}

private

the arming status of the actuators on the bus

Definition at line 189 of file uavcan_main.hpp.

◆ _master_timer

uavcan::TimerEventForwarder<TimerCallback> UavcanNode::_master_timer

private

Definition at line 222 of file uavcan_main.hpp.

Referenced by Run().

◆ _mixing_interface

UavcanMixingInterface UavcanNode::_mixing_interface {_node_mutex, _esc_controller}

private

Definition at line 201 of file uavcan_main.hpp.

Referenced by enable_idle_throttle_when_armed(), init(), ioctl(), print_info(), Run(), and update_params().

◆ _node [1/2]

Node UavcanNode::_node

private

library instance

Definition at line 132 of file uavcannode_main.hpp.

◆ _node [2/2]

uavcan::Node UavcanNode::_node

private

library instance

Definition at line 197 of file uavcan_main.hpp.

Referenced by fill_node_info(), get_node(), get_set_param(), handle_time_sync(), init(), node_spin_once(), print_info(), reset_node(), Run(), save_params(), and start_fw_server().

◆ _node_mutex

pthread_mutex_t UavcanNode::_node_mutex

private

Definition at line 198 of file uavcan_main.hpp.

Referenced by hardpoint_controller_set(), print_info(), UavcanMixingInterface::Run(), Run(), shrink(), UavcanNode(), and ~UavcanNode().

◆ _node_status_monitor

uavcan::NodeStatusMonitor UavcanNode::_node_status_monitor

private

Definition at line 205 of file uavcan_main.hpp.

Referenced by print_info(), and Run().

◆ _output_count

unsigned UavcanNode::_output_count {0}

private

number of actuators currently available

Definition at line 191 of file uavcan_main.hpp.

Referenced by Run().

◆ _parameter_update_sub

uORB::Subscription UavcanNode::_parameter_update_sub {ORB_ID(parameter_update)}

private

Definition at line 214 of file uavcan_main.hpp.

Referenced by Run().

◆ _pool_allocator

uavcan_node::Allocator UavcanNode::_pool_allocator

private

Definition at line 195 of file uavcan_main.hpp.

Referenced by print_info(), and shrink().

◆ _reset_timer

uavcan::TimerEventForwarder<void (*)(const uavcan::TimerEvent &)> UavcanNode::_reset_timer

Definition at line 149 of file uavcannode_main.hpp.

◆ _sem

px4_sem_t UavcanNode::_sem

private

semaphore for scheduling the task

Definition at line 127 of file uavcannode_main.hpp.

◆ _sensor_bridges

List<IUavcanSensorBridge *> UavcanNode::_sensor_bridges

private

List of active sensor bridges.

Definition at line 207 of file uavcan_main.hpp.

Referenced by init(), print_info(), and ~UavcanNode().

◆ _server_command_sem

px4_sem_t UavcanNode::_server_command_sem

private

Definition at line 199 of file uavcan_main.hpp.

Referenced by fw_server(), request_fw_check(), start_fw_server(), stop_fw_server(), teardown(), UavcanNode(), and ~UavcanNode().

◆ _setget_response

uavcan::protocol::param::GetSet::Response* UavcanNode::_setget_response {nullptr}

private

Definition at line 226 of file uavcan_main.hpp.

Referenced by cb_setget().

◆ _task

int UavcanNode::_task = -1

private

handle to the OS task

Definition at line 128 of file uavcannode_main.hpp.

◆ _task_should_exit [1/2]

bool UavcanNode::_task_should_exit = false

private

flag to indicate to tear down the CAN driver

Definition at line 129 of file uavcannode_main.hpp.

◆ _task_should_exit [2/2]

px4::atomic_bool UavcanNode::_task_should_exit {false}

private

flag to indicate to tear down the CAN driver

Definition at line 185 of file uavcan_main.hpp.

Referenced by Run(), and ~UavcanNode().

◆ _time_sync_master

uavcan::GlobalTimeSyncMaster UavcanNode::_time_sync_master

private

Definition at line 203 of file uavcan_main.hpp.

Referenced by handle_time_sync().

◆ _time_sync_slave

uavcan::GlobalTimeSyncSlave UavcanNode::_time_sync_slave

private

Definition at line 204 of file uavcan_main.hpp.

Referenced by handle_time_sync(), and Run().

◆ _tx_injector

ITxQueueInjector* UavcanNode::_tx_injector {nullptr}

private

Definition at line 209 of file uavcan_main.hpp.

Referenced by node_spin_once(), start_fw_server(), and stop_fw_server().

◆ active_bitrate

int32_t UavcanNode::active_bitrate

Definition at line 116 of file uavcannode_main.hpp.

◆ bitPerFrame

constexpr unsigned UavcanNode::bitPerFrame = 148

staticprivate

Definition at line 110 of file uavcan_main.hpp.

◆ FramePerMSecond

constexpr unsigned UavcanNode::FramePerMSecond = ((FramePerSecond / 1000) + 1)

staticprivate

Definition at line 112 of file uavcan_main.hpp.

◆ FramePerSecond

constexpr unsigned UavcanNode::FramePerSecond = MaxBitRatePerSec / bitPerFrame

staticprivate

Definition at line 111 of file uavcan_main.hpp.

◆ MaxBitRatePerSec

constexpr unsigned UavcanNode::MaxBitRatePerSec = 1000000

staticprivate

Definition at line 109 of file uavcan_main.hpp.

◆ MemPoolSize

constexpr unsigned UavcanNode::MemPoolSize = 2048

staticprivate

Definition at line 71 of file uavcannode_main.hpp.

◆ RxQueueLenPerIface

static constexpr unsigned UavcanNode::RxQueueLenPerIface = FramePerMSecond * ScheduleIntervalMs

staticprivate

Definition at line 129 of file uavcan_main.hpp.

◆ ScheduleIntervalMs

constexpr unsigned UavcanNode::ScheduleIntervalMs = 3

staticprivate

Definition at line 114 of file uavcan_main.hpp.

Referenced by start().

◆ StackSize

constexpr unsigned UavcanNode::StackSize = 2500

staticprivate

Definition at line 90 of file uavcannode_main.hpp.

The documentation for this class was generated from the following files:

src/drivers/uavcan/uavcan_main.hpp
src/drivers/uavcannode/uavcannode_main.hpp
src/drivers/uavcan/uavcan_main.cpp
src/drivers/uavcannode/uavcannode_main.cpp

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ BeginFirmwareUpdate

◆ BeginFirmwareUpdateCallBack

◆ CanInitHelper [1/2]

◆ CanInitHelper [2/2]

◆ ExecuteOpcodeCallback

◆ GetSetCallback

◆ Node

◆ RestartNodeCallback

◆ TimerCallback

Member Enumeration Documentation

◆ eServerAction

Constructor & Destructor Documentation

◆ UavcanNode() [1/2]

◆ ~UavcanNode() [1/2]

◆ UavcanNode() [2/2]

◆ ~UavcanNode() [2/2]

Member Function Documentation

◆ attachITxQueueInjector()

◆ busevent_signal_trampoline() [1/2]

◆ busevent_signal_trampoline() [2/2]

◆ cb_beginfirmware_update()

◆ cb_opcode()

◆ cb_restart()

◆ cb_setget()

◆ enable_idle_throttle_when_armed()

◆ fill_node_info() [1/2]

◆ fill_node_info() [2/2]

◆ free_setget_response()

◆ fw_server()

◆ get_node() [1/2]

◆ get_node() [2/2]

◆ get_param()

◆ get_set_param()

◆ getHardwareVersion()

◆ handle_time_sync()

◆ hardpoint_controller_set()

◆ init() [1/2]

◆ init() [2/2]

◆ instance() [1/2]

◆ instance() [2/2]

◆ ioctl() [1/2]

◆ ioctl() [2/2]

◆ list_params()

◆ node_spin_once() [1/2]

◆ node_spin_once() [2/2]

◆ print_info() [1/2]

◆ print_info() [2/2]

◆ print_params()

◆ request_fw_check()

◆ reset_node()

◆ run()

◆ Run()

◆ save_params()

◆ set_param()

◆ set_setget_response()

◆ shrink()

◆ start() [1/2]

◆ start() [2/2]

◆ start_fw_server()

◆ stop_fw_server()

◆ teardown() [1/2]

◆ teardown() [2/2]

◆ update_params()

Member Data Documentation

◆ _callback_success

◆ _cycle_perf

◆ _esc_controller