Andrew Tridgell
540dcc554f
AP_UAVCAN: added a check for memory corruption in the pool
2022-06-05 16:03:35 +10:00
Andrew Tridgell
541de85354
AP_UAVCAN: added dynamically allocated pool size param
...
allow for smaller pool size to save memory
2022-06-05 16:03:35 +10:00
Peter Barker
8cd0922f01
AP_UAVCAN: allow baro backends to be individually compiled out
2022-05-22 12:11:45 +10:00
Andrew Tridgell
cc06327526
AP_UAVCAN: allow CAN output for function==0 and allow for 32 CAN servos
2022-05-22 12:07:37 +10:00
Iampete1
d1e45c93d6
AP_UAVCAN: update ESC_BM and SRV_BM Bitmask
2022-05-22 12:07:37 +10:00
Andrew Tridgell
8106291bfe
AP_UAVCAN: added CAN_Dx_UC_ESC_OF parameter
...
this allows for an offset in ESC numbering for much more efficient CAN
bandwidth usage.
For example, on a coaxial OctoQuad quadplane the ESCs are typically
setup as outputs 5 to 12. An ideal setup is to split these over 2 CAN
buses, with one CAN bus for the top layer and the one bus for the
bottom layer (allowing for VTOL flight with one bus failed).
Without this offset parameter you would be sending RawCommand messages
like this:
bus1: [ 0, 0, 0, 0, ESC1, ESC2, ESC3, ESC4 ]
bus2: [ 0, 0, 0, 0, 0, 0, 0, 0, ESC1, ESC2, ESC3, ESC4 ]
this is very wasteful of bus bandwidth, with bus1 using 3x the
bandwidth it should and bus2 using 4x the bandwidth it should (the
above will take 3 can frames for bus1, and 4 can frames for bus 2)
With this patch you can set:
CAN_D1_UC_ESC_OF = 4
CAN_D2_UC_ESC_OF = 8
and you will get this on the bus:
bus1: [ ESC1, ESC2, ESC3, ESC4 ]
bus2: [ ESC1, ESC2, ESC3, ESC4 ]
that takes just 1 can frame per send on each bus
2022-05-18 21:23:30 +10:00
Peter Barker
7799d8bff5
AP_UAVCAN: allow backends to be compiled out
2022-05-10 09:02:51 +10:00
Peter Barker
e490a5b5cd
AP_UAVCAN: tidy includes
2022-05-03 09:14:58 +10:00
pacolate12
0d256da3b5
AP_UAVCAN: correct array inxexing
...
Allows the code to be run on hardware
2022-03-20 07:32:33 -07:00
bugobliterator
5865680070
AP_UAVCAN: move pool allocator to cpp
2022-03-11 18:13:54 +11:00
bugobliterator
3569435531
AP_UAVCAN: ensure that we publish allocation messages in STD CAN format
2022-03-11 18:13:54 +11:00
Siddharth Purohit
ef1bdc2e5f
AP_UAVCAN: add support for optionally publishing CANFD frames
2022-03-11 18:13:54 +11:00
Henry Wurzburg
14c9d4e6a3
AP_UAVCAN: add metadata to GetNodeInfo log message
2022-02-14 13:38:07 +11:00
Andrew Tridgell
55f21f367b
AP_UAVCAN: disable CAN filtering except on AP_Periph
...
this saves flash space and makes CAN forwarding for any bus without
reconfigure/reboot easy. CAN filtering is not useful in the main
flight controller firmware as we want to see nearly all packets
2022-02-12 16:36:05 +11:00
Peter Barker
7db723981c
AP_UAVCAN: make C_TO_KELVIN a function macro; create KELVIN_TO_C
...
These are in celsius
2022-01-13 18:31:46 +11:00
Peter Barker
a741499cff
AP_UAVCAN: create and use AP_OPTICALFLOW_ENABLED
...
Including a define for each backend.
2021-12-29 18:12:03 +11:00
Jaaaky
3008a480d5
AP_UAVCAN: Fix multi #include's
2021-12-21 10:38:46 +11:00
Andrew Tridgell
9e5fcb4ced
AP_UAVCAN: removed old vendor DSDL and add README.md
...
this DSDL is in https://github.com/DroneCAN/DSDL now
2021-12-06 20:17:02 +11:00
Andrew Tridgell
5afe055a46
AP_UAVCAN: use soft armed state for DroneCAN ARMING_STATUS
...
this fixes motortest on quadplanes, so that ESCs see an armed state
during the test
2021-12-06 20:16:23 +11:00
Pierre Kancir
4037104f59
AP_UAVCAN: hide -Wcast-function-type warning on GCC11
2021-11-13 17:28:30 +11:00
李孟晓
36ceb76cae
AP_UAVCAN: Add battery ID field
2021-10-13 18:44:05 +11:00
bugobliterator
2673cde52b
AP_UAVCAN: add dsdl for sending vehicle notify state
2021-09-30 08:52:27 +10:00
bugobliterator
e4c6c0ad17
AP_UAVCAN:add support for sending Vehicle Notify state
2021-09-30 08:52:27 +10:00
bugobliterator
fd369e8262
AP_UAVCAN: throw allocation error when failing to allocate
2021-09-30 08:51:26 +10:00
bugobliterator
b897f984a7
AP_UAVCAN: use config error instead of panic on allocation failure
2021-09-30 08:51:26 +10:00
Andrew Tridgell
63fcb804b3
AP_UAVCAN: added CAN_Dn_UC_OPTION parameter
...
this allows for 2 ways of controlling conflicts in the UAVCAN DNA
database. The first is to set CAN_Dn_UC_OPTION to 1, which resets the
DNA database, thus clearing any node conflicts.
The second is to set CAN_Dn_UC_OPTION to 2, which ignores node
conflicts in the DNA database
These options are useful for vehicles with UAVCAN smart batteries
where the node ID is fixed but the hwid changes and you want to do
battery swapping (possibly without rebooting)
2021-09-17 12:32:59 +10:00
Josh Henderson
b1028035bc
AP_UAVCAN: cleanup comments in BatteryInfoAux dsdl message
2021-08-31 10:30:28 +10:00
bugobliterator
e8c4b99a99
AP_UAVCAN: add support for setting parameters on CAN nodes
2021-08-19 14:20:58 +10:00
bugobliterator
ddc82f7619
AP_UAVCAN: add messages for doing MovingBaseline Heading over UAVCAN
2021-08-19 14:20:58 +10:00
Andrew Tridgell
cb462cac6e
AP_UAVCAN: fixed printf format errors
2021-08-05 09:43:35 +10:00
Siddharth Purohit
0217d1c3dc
AP_UAVCAN: add BatteryInfoAux dsdl message
2021-07-08 11:56:06 +10:00
Siddharth Purohit
9494a439ec
AP_UAVCAN: Use HAL_ENABLE_LIBUAVCAN_DRIVERS instead of HAL_MAX_CAN_PROTOCOL_DRIVERS
2021-06-24 09:02:42 +10:00
Dr.-Ing. Amilcar do Carmo Lucas
ff200e9d11
AP_UAVCAN: fix compilation when HAL_WITH_ESC_TELEM == 0
2021-06-09 21:42:51 +10:00
Tom Pittenger
c807035e02
AP_UAVCAN: use HAL_ENABLE_LIBUAVCAN_DRIVERS instead of HAL_MAX_CAN_PROTOCOL_DRIVERS
2021-06-09 18:36:18 +10:00
Peter Barker
42b1a0998f
AP_UAVCAN: move from HAL_NO_LOGGING to HAL_LOGGING_ENABLED
2021-05-19 17:38:47 +10:00
Andy Piper
f513b1d1c2
AP_UAVCAN: add esc telemetry updates
...
remove send_esc_telemetry_mavlink()
remove datastructures and semaphore obsoleted by AP_ESC_Telem* (<amilcar.lucas@iav.de>)
record volts, amps and consumption as floats
2021-05-12 17:01:11 +10:00
Michael du Breuil
e47857a278
AP_UAVCAN: Add ardupilot.gnss.Status
2021-03-12 09:39:55 +11:00
Patrick José Pereira
9904b397d8
AP_UAVCAN: Add missing const in member functions
...
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
2021-02-03 18:45:14 +11:00
Michael du Breuil
05b9aa2fa2
AP_UAVCAN: Broadcast ArmingStatus regularly
2021-02-02 10:57:57 +11:00
Michael Oborne
5ef3e1bec3
UAVCAN: add dsdl for gps heading
2021-01-07 15:56:28 +11:00
Andy Piper
40090dcce9
AP_UAVCAN: compile fix for debug/assertions
2021-01-03 08:57:13 +11:00
Andrew Tridgell
a4517032c5
AP_UAVCAN: log all UAVCAN devices in CAND log message
2021-01-01 17:30:14 +11:00
Andrew Tridgell
88b5523d47
AP_UAVCAN: added logging of UAVCAN LogMessage messages
...
this allows us to log internal errors from nodes into main flight
controller log
2020-12-01 11:14:50 +11:00
Andrew Tridgell
77687a9639
AP_UAVCAN: fixed build with no GCS
...
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
2020-11-10 16:15:45 +11:00
bugobliterator
49915ed06f
AP_UAVCAN: save some stack space
2020-10-08 09:31:35 +11:00
Siddharth Purohit
d8852615ed
AP_UAVCAN: disable UAVCAN library when libuavcan drivers are disabled
2020-09-24 12:32:19 +10:00
Andy Piper
940d708438
AP_UAVCAN: conditionally compile in ADSB support
2020-09-22 09:33:51 +10:00
Tom Pittenger
b502582d14
AP_UAVCAN: replace old hardcoded value with new mavlink enum
2020-09-15 13:09:50 -07:00
Andrew Tridgell
6803408453
AP_UAVCAN: fixed string warnings
2020-09-15 09:40:03 +10:00
bugobliterator
fbc0b9e599
AP_UAVCAN: silence function cast warning/error for Registry template
2020-09-08 07:42:20 +10:00