forked from Archive/PX4-Autopilot
Multiple stages for UAVCAN_ENABLE
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4296dac884
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@ -3,7 +3,26 @@
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# UAVCAN initialization script.
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#
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#
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# Mirriring the UAVCAN_ENABLE param value to an eponymous environment variable.
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# TODO there should be a smarter way.
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#
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set UAVCAN_ENABLE 0
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if param compare UAVCAN_ENABLE 1
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then
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set UAVCAN_ENABLE 1
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fi
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if param compare UAVCAN_ENABLE 2
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then
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set UAVCAN_ENABLE 2
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fi
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echo "[i] UAVCAN_ENABLE is $UAVCAN_ENABLE"
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#
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# Starting stuff according to UAVCAN_ENABLE value
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#
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if [ $UAVCAN_ENABLE -ge 1 ]
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then
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if uavcan start
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then
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@ -16,3 +35,14 @@ then
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tone_alarm $TUNE_ERR
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fi
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fi
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if [ $UAVCAN_ENABLE -ge 2 ]
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then
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if uavcan start fw
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then
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echo "[i] UAVCAN servers started"
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else
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echo "[i] ERROR: Could not start UAVCAN servers"
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tone_alarm $TUNE_ERR
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fi
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fi
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@ -41,10 +41,13 @@
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/**
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* Enable UAVCAN.
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*
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* Enables support for UAVCAN-interfaced actuators and sensors.
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* Allowed values:
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* 0 - UAVCAN disabled.
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* 1 - Enabled support for UAVCAN actuators and sensors.
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* 2 - Enabled support for dynamic node ID allocation and firmware update.
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*
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* @min 0
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* @max 1
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* @max 2
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* @group UAVCAN
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*/
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PARAM_DEFINE_INT32(UAVCAN_ENABLE, 0);
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