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uavcannode updates and px4_fmu-v4_cannode example
- drivers/uavcannode add baro, mag, gps publications - delete old px4_cannode-v1 board - add stripped down simple rcS for CAN nodes
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,34 @@ | ||
| ############################################################################ | ||
| # | ||
| # Copyright (c) 2020 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. | ||
| # | ||
| ############################################################################ | ||
|
|
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| add_subdirectory(init.d) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,106 @@ | ||
| #!/bin/sh | ||
| # Un comment and use set +e to ignore and set -e to enable 'exit on error control' | ||
| set +e | ||
| # Un comment the line below to help debug scripts by printing a trace of the script commands | ||
| #set -x | ||
| # PX4FMU startup script. | ||
| # | ||
| # NOTE: environment variable references: | ||
| # If the dollar sign ('$') is followed by a left bracket ('{') then the | ||
| # variable name is terminated with the right bracket character ('}'). | ||
| # Otherwise, the variable name goes to the end of the argument. | ||
| # | ||
| # | ||
| # NOTE: COMMENT LINES ARE REMOVED BEFORE STORED IN ROMFS. | ||
| # | ||
| #------------------------------------------------------------------------------ | ||
|
|
||
| # | ||
| # Mount the procfs. | ||
| # | ||
| mount -t procfs /proc | ||
|
|
||
| # | ||
| # Start CDC/ACM serial driver. | ||
| # | ||
| sercon | ||
|
|
||
| # | ||
| # Print full system version. | ||
| # | ||
| ver all | ||
|
|
||
| # | ||
| # Start the ORB (first app to start) | ||
| # tone_alarm and tune_control | ||
| # is dependent. | ||
| # | ||
| uorb start | ||
|
|
||
| # | ||
| # Set the parameter file if mtd starts successfully. | ||
| # | ||
| if mtd start | ||
| then | ||
| set PARAM_FILE /fs/mtd_params | ||
| fi | ||
|
|
||
| # | ||
| # Load parameters. | ||
| # | ||
| param select $PARAM_FILE | ||
| if ! param load | ||
| then | ||
| param reset | ||
| fi | ||
|
|
||
| # | ||
| # Optional board defaults: rc.board_defaults | ||
| # | ||
| set BOARD_RC_DEFAULTS /etc/init.d/rc.board_defaults | ||
| if [ -f $BOARD_RC_DEFAULTS ] | ||
| then | ||
| echo "Board defaults: ${BOARD_RC_DEFAULTS}" | ||
| sh $BOARD_RC_DEFAULTS | ||
| fi | ||
| unset BOARD_RC_DEFAULTS | ||
|
|
||
| # | ||
| # Start system state indicator. | ||
| # | ||
| rgbled start | ||
| rgbled_ncp5623c start | ||
| rgbled_pwm start | ||
|
|
||
| if param greater LIGHT_EN_BLINKM 0 | ||
| then | ||
| if blinkm start | ||
| then | ||
| blinkm systemstate | ||
| fi | ||
| fi | ||
|
|
||
| # | ||
| # board sensors: rc.sensors | ||
| # | ||
| set BOARD_RC_SENSORS /etc/init.d/rc.board_sensors | ||
| if [ -f $BOARD_RC_SENSORS ] | ||
| then | ||
| echo "Board sensors: ${BOARD_RC_SENSORS}" | ||
| sh $BOARD_RC_SENSORS | ||
| fi | ||
| unset BOARD_RC_SENSORS | ||
|
|
||
| # | ||
| # Start UART/Serial device drivers. | ||
| # Note: rc.serial is auto-generated from Tools/serial/generate_config.py | ||
| # | ||
| sh /etc/init.d/rc.serial | ||
|
|
||
| # Check for flow sensor, launched as a background task to scan | ||
| if param compare SENS_EN_PX4FLOW 1 | ||
| then | ||
| px4flow start & | ||
| fi | ||
|
|
||
| uavcannode start |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,19 +1,75 @@ | ||
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| # UAVCAN boot loadable Module ID | ||
| set(uavcanblid_sw_version_major 0) | ||
| set(uavcanblid_sw_version_minor 1) | ||
| add_definitions( | ||
| -DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major} | ||
| -DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor} | ||
| ) | ||
|
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||
| set(uavcanblid_hw_version_major 1) | ||
| set(uavcanblid_hw_version_minor 0) | ||
| set(uavcanblid_name "\"org.nxp.rddrone-uavcan146\"") | ||
|
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| add_definitions( | ||
| -DHW_UAVCAN_NAME=${uavcanblid_name} | ||
| -DHW_VERSION_MAJOR=${uavcanblid_hw_version_major} | ||
| -DHW_VERSION_MINOR=${uavcanblid_hw_version_minor} | ||
| ) | ||
|
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||
| px4_add_board( | ||
| PLATFORM nuttx | ||
| VENDOR nxp | ||
| MODEL rddrone-uavcan146 | ||
| LABEL default | ||
| TOOLCHAIN arm-none-eabi | ||
| ARCHITECTURE cortex-m4 | ||
|
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| ROMFSROOT cannode | ||
| UAVCAN_INTERFACES 2 | ||
|
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| DRIVERS | ||
|
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| #adc | ||
| #barometer # all available barometer drivers | ||
| #bootloaders | ||
| #differential_pressure # all available differential pressure drivers | ||
| #distance_sensor # all available distance sensor drivers | ||
| #dshot | ||
| #gps | ||
| #imu # all available imu drivers | ||
| #lights | ||
| #magnetometer # all available magnetometer drivers | ||
| #optical_flow # all available optical flow drivers | ||
| #px4fmu | ||
| #safety_button | ||
| #tone_alarm | ||
| #uavcannode # TODO: CAN driver needed | ||
| MODULES | ||
|
|
||
| #ekf2 | ||
| #load_mon | ||
| #sensors | ||
| #temperature_compensation | ||
| SYSTEMCMDS | ||
| #bl_update | ||
| #dmesg | ||
| #dumpfile | ||
| #esc_calib | ||
| #hardfault_log | ||
| i2cdetect | ||
|
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||
| EXAMPLES | ||
| ) | ||
| #led_control | ||
| #mixer | ||
| #motor_ramp | ||
| #motor_test | ||
| #nshterm | ||
| #param | ||
| #perf | ||
| #pwm | ||
| reboot | ||
| #reflect | ||
| #sd_bench | ||
| shutdown | ||
| #top | ||
| #topic_listener | ||
| #tune_control | ||
| ver | ||
| #work_queue | ||
| ) |
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