uavcan_module.hpp

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#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_FIRMWARE_PATH   "/fs/microsd/fw"
#define UAVCAN_ROMFS_FW_PATH   "/etc/uavcan/fw"
#define UAVCAN_ROMFS_FW_PREFIX "_"

// logging
#define UAVCAN_NODE_DB_PATH "/fs/microsd/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[]);