A UAVCAN node. More...

#include <uavcanesc_main.hpp>

Inheritance diagram for UavcanEsc:

Collaboration diagram for UavcanEsc:

Public Types
typedef uavcan::Node< MemPoolSize >	Node

typedef uavcan_stm32::CanInitHelper< RxQueueLenPerIface >	CanInitHelper

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

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

virtual	~UavcanEsc ()

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 UavcanEsc *	instance ()

Public Attributes
int32_t	active_bitrate

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

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

Private Member Functions
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< UavcanEsc::BeginFirmwareUpdate::Request > &req, uavcan::ServiceResponseDataStructure< UavcanEsc::BeginFirmwareUpdate::Response > &rsp)

Static Private Member Functions
static void	busevent_signal_trampoline ()

Private Attributes
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...

pthread_mutex_t	_node_mutex

uavcan::ServiceServer< BeginFirmwareUpdate, BeginFirmwareUpdateCallBack >	_fw_update_listner

Static Private Attributes
static constexpr unsigned	MemPoolSize = 2048

static constexpr unsigned	RxQueueLenPerIface = 5

static constexpr unsigned	StackSize = 4096

static UavcanEsc *	_instance
	singleton pointer More...

Additional Inherited Members
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...

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 57 of file uavcanesc_main.hpp.

Member Typedef Documentation

◆ BeginFirmwareUpdate

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

Definition at line 92 of file uavcanesc_main.hpp.

◆ BeginFirmwareUpdateCallBack

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

private

Definition at line 135 of file uavcanesc_main.hpp.

◆ CanInitHelper

typedef uavcan_stm32::CanInitHelper<RxQueueLenPerIface> UavcanEsc::CanInitHelper

Definition at line 91 of file uavcanesc_main.hpp.

◆ Node

typedef uavcan::Node<MemPoolSize> UavcanEsc::Node

Definition at line 90 of file uavcanesc_main.hpp.

Constructor & Destructor Documentation

◆ UavcanEsc()

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

Definition at line 90 of file uavcanesc_main.cpp.

References _node_mutex, and _sem.

Referenced by start().

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◆ ~UavcanEsc()

UavcanEsc::~UavcanEsc ( )

virtual

Definition at line 110 of file uavcanesc_main.cpp.

References _instance, _sem, _task, and _task_should_exit.

Member Function Documentation

◆ busevent_signal_trampoline()

void UavcanEsc::busevent_signal_trampoline ( )

staticprivate

Definition at line 332 of file uavcanesc_main.cpp.

References _instance, _sem, and signal_callback().

Referenced by init().

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◆ cb_beginfirmware_update()

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

private

Definition at line 239 of file uavcanesc_main.cpp.

References _node, _reset_timer, active_bitrate, 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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◆ fill_node_info()

void UavcanEsc::fill_node_info ( )

private

Definition at line 201 of file uavcanesc_main.cpp.

References _node, AppDescriptor, app_descriptor_t::image_crc, app_descriptor_t::major_version, app_descriptor_t::minor_version, and px4_firmware_version_string().

Referenced by init().

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◆ get_node()

Node& UavcanEsc::get_node ( )

inline

Definition at line 102 of file uavcanesc_main.hpp.

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

Referenced by run().

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◆ init()

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

private

Definition at line 264 of file uavcanesc_main.cpp.

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

Referenced by start().

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◆ instance()

static UavcanEsc* UavcanEsc::instance ( )

inlinestatic

Definition at line 108 of file uavcanesc_main.hpp.

References _instance.

Referenced by uavcanesc_main().

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◆ ioctl()

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

virtual

Definition at line 386 of file uavcanesc_main.cpp.

References cdev::CDev::lock(), OK, and cdev::CDev::unlock().

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◆ node_spin_once()

void UavcanEsc::node_spin_once ( )

private

Definition at line 308 of file uavcanesc_main.cpp.

References _node.

Referenced by run().

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◆ print_info()

void UavcanEsc::print_info ( void )

Definition at line 411 of file uavcanesc_main.cpp.

References _instance, and _node_mutex.

Referenced by get_node(), and uavcanesc_main().

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◆ run()

int UavcanEsc::run ( )

private

Definition at line 339 of file uavcanesc_main.cpp.

References _node, _node_mutex, _sem, _task_should_exit, get_node(), hrt_call_every(), hrt_cancel(), init_indication_controller(), node_spin_once(), restart_request_handler, signal_callback(), and teardown().

Referenced by start().

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◆ start()

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

static

Definition at line 135 of file uavcanesc_main.cpp.

References _instance, _task, active_bitrate, uavcan_stm32::CanInitHelper< RxQueueCapacity >::driver, init(), uavcan_stm32::CanInitHelper< RxQueueCapacity >::init(), uavcan_stm32::SystemClock::instance(), OK, run(), StackSize, UavcanEsc(), and uavcan_stm32::CanDriver::updateEvent().

Referenced by uavcannode_start().

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◆ teardown()

int UavcanEsc::teardown ( )

Definition at line 378 of file uavcanesc_main.cpp.

Referenced by get_node(), and run().

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Member Data Documentation

◆ _fw_update_listner

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

private

Definition at line 137 of file uavcanesc_main.hpp.

Referenced by init().

◆ _instance

UavcanEsc * UavcanEsc::_instance

staticprivate

singleton pointer

Definition at line 128 of file uavcanesc_main.hpp.

Referenced by busevent_signal_trampoline(), instance(), print_info(), start(), and ~UavcanEsc().

◆ _node

Node UavcanEsc::_node

private

library instance

Definition at line 129 of file uavcanesc_main.hpp.

Referenced by cb_beginfirmware_update(), fill_node_info(), get_node(), init(), node_spin_once(), and run().

◆ _node_mutex

pthread_mutex_t UavcanEsc::_node_mutex

private

Definition at line 130 of file uavcanesc_main.hpp.

Referenced by print_info(), run(), and UavcanEsc().

◆ _reset_timer

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

Definition at line 145 of file uavcanesc_main.hpp.

Referenced by cb_beginfirmware_update().

◆ _sem

px4_sem_t UavcanEsc::_sem

private

semaphore for scheduling the task

Definition at line 124 of file uavcanesc_main.hpp.

Referenced by busevent_signal_trampoline(), run(), UavcanEsc(), and ~UavcanEsc().

◆ _task

int UavcanEsc::_task = -1

private

handle to the OS task

Definition at line 125 of file uavcanesc_main.hpp.

Referenced by start(), and ~UavcanEsc().

◆ _task_should_exit

bool UavcanEsc::_task_should_exit = false

private

flag to indicate to tear down the CAN driver

Definition at line 126 of file uavcanesc_main.hpp.

Referenced by run(), and ~UavcanEsc().

◆ active_bitrate

int32_t UavcanEsc::active_bitrate

Definition at line 113 of file uavcanesc_main.hpp.

Referenced by cb_beginfirmware_update(), and start().

◆ MemPoolSize

constexpr unsigned UavcanEsc::MemPoolSize = 2048

staticprivate

Definition at line 68 of file uavcanesc_main.hpp.

◆ RxQueueLenPerIface

constexpr unsigned UavcanEsc::RxQueueLenPerIface = 5

staticprivate

Definition at line 81 of file uavcanesc_main.hpp.

◆ StackSize

constexpr unsigned UavcanEsc::StackSize = 4096

staticprivate

Definition at line 87 of file uavcanesc_main.hpp.

Referenced by start().

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

src/drivers/uavcanesc/uavcanesc_main.hpp
src/drivers/uavcanesc/uavcanesc_main.cpp

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

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

◆ Node

Constructor & Destructor Documentation

◆ UavcanEsc()

◆ ~UavcanEsc()

Member Function Documentation

◆ busevent_signal_trampoline()

◆ cb_beginfirmware_update()

◆ fill_node_info()

◆ get_node()

◆ init()

◆ instance()

◆ ioctl()

◆ node_spin_once()

◆ print_info()

◆ run()

◆ start()

◆ teardown()

Member Data Documentation

◆ _fw_update_listner

◆ _instance

◆ _node

◆ _node_mutex

◆ _reset_timer

◆ _sem

◆ _task

◆ _task_should_exit

◆ active_bitrate

◆ MemPoolSize

◆ RxQueueLenPerIface

◆ StackSize