forked from Archive/PX4-Autopilot
update UAVCAN-v0 dsdl to DroneCAN
This commit is contained in:
Daniel Agar
parent
67437396f1
commit
c73a1b4c68
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@ -4,8 +4,8 @@
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branch = master
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[submodule "src/drivers/uavcan/libuavcan"]
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path = src/drivers/uavcan/libuavcan
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url = https://github.com/PX4/libuavcan.git
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branch = px4
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url = https://github.com/dronecan/libuavcan.git
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branch = main
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[submodule "Tools/jMAVSim"]
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path = Tools/jMAVSim
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url = https://github.com/PX4/jMAVSim.git
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@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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# Copyright (c) 2015-2021 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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@ -99,10 +99,10 @@ target_include_directories(uavcan_${UAVCAN_DRIVER}_driver PUBLIC
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# generated DSDL
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set(DSDLC_DIR "${CMAKE_CURRENT_SOURCE_DIR}/dsdl")
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set(DSDLC_INPUTS
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"${DSDLC_DIR}/com"
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"${DSDLC_DIR}/ardupilot"
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"${LIBUAVCAN_DIR}/dsdl/ardupilot"
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"${LIBUAVCAN_DIR}/dsdl/com"
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"${LIBUAVCAN_DIR}/dsdl/cuav"
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"${LIBUAVCAN_DIR}/dsdl/uavcan"
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"${DSDLC_DIR}/cuav"
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)
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set(DSDLC_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/include/dsdlc_generated")
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@ -112,7 +112,10 @@ foreach(DSDLC_INPUT ${DSDLC_INPUTS})
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list(APPEND DSDLC_INPUT_FILES ${DSDLC_NEW_INPUT_FILES})
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endforeach(DSDLC_INPUT)
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add_custom_command(OUTPUT px4_uavcan_dsdlc_run.stamp
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COMMAND ${PYTHON_EXECUTABLE} ${LIBUAVCAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc ${DSDLC_INPUTS} -O${DSDLC_OUTPUT}
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COMMAND
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${PYTHON_EXECUTABLE} ${LIBUAVCAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc
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--outdir ${DSDLC_OUTPUT} ${DSDLC_INPUTS}
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#--verbose
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COMMAND ${CMAKE_COMMAND} -E touch px4_uavcan_dsdlc_run.stamp
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DEPENDS ${DSDLC_INPUT_FILES}
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COMMENT "PX4 UAVCAN dsdl compiler"
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@ -1,7 +0,0 @@
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#
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# support for Safety LED on UAVCAN
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uint8 STATUS_SAFETY_ON = 0
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uint8 STATUS_SAFETY_OFF = 255
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uint8 status
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@ -1,11 +0,0 @@
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#
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# support for buttons on UAVCAN
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# while a button is being pressed this message should be sent at 10Hz
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uint8 BUTTON_SAFETY = 1
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uint8 button
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# number of 0.1s units the button has been pressed for. If over 255
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# then send 255
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uint8 press_time
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@ -1,4 +0,0 @@
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float32 integration_interval
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float32[2] rate_gyro_integral
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float32[2] flow_integral
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uint8 quality
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@ -1,41 +0,0 @@
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#
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# support for CUAV Smart Battery on UAVCAN
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#
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float32 temperature # The surface temperature of the battery
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float32 voltage # The total voltage of the battery
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float32[<=15] voltage_cell # Battery individual cell voltages
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uint8 cell_count # Number of cells
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float32 current # The current flowing through the sense resistor
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float32 average_current # The average current flowing through the sense resistor
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float32 average_power # The average power of the current discharge
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float32 available_energy # The predicted charge or energy remaining in the battery
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float32 remaining_capacity # The compensated battery capacity remaining
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float32 full_charge_capacity # The compensated capacity of the battery when fully charged
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float32 design_capacity # The design capacity of the battery
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uint16 average_time_to_empty # The predicted remaining battery life at the present rate of discharge, in minutes
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uint16 average_time_to_full # The predicted remaining time until the battery reaches full charge, in minutes
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uint7 state_of_health # Health of the battery
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uint7 state_of_charge # Percent of the full charge [0, 100]
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uint7 max_error # max error, expected margin of error in % in the state-of-charge calculation with a range of 1 to 100%
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uint16 serial_number # serial number of the battery pack
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uint16 manufacture_date # manufacture date, part of serial number of the battery pack
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uint16 cycle_count # number of discharge cycles the battery has experienced
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uint16 over_discharge_count # Number of battery overdischarge
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float32 passed_charge # The amount of charge passing through the sense resistor
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float32 nominal_voltage # Nominal voltage of the battery pack
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bool is_powering_off # Power off event imminent indication, false if unknown
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uint16 interface_error # interface error counter
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uint11 STATUS_FLAG_IN_USE = 1 # The battery is currently used as a power supply
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uint11 STATUS_FLAG_CHARGING = 2 # Charger is active
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uint11 STATUS_FLAG_CHARGED = 4 # Charging complete, but the charger is still active
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uint11 STATUS_FLAG_TEMP_HOT = 8 # Battery temperature is above normal
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uint11 STATUS_FLAG_TEMP_COLD = 16 # Battery temperature is below normal
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uint11 STATUS_FLAG_OVERLOAD = 32 # Safe operating area violation
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uint11 STATUS_FLAG_BAD_BATTERY = 64 # This battery should not be used anymore (e.g. low SOH)
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uint11 STATUS_FLAG_NEED_SERVICE = 128 # This battery requires maintenance (e.g. balancing, full recharge)
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uint11 STATUS_FLAG_BMS_ERROR = 256 # Battery management system/controller error, smart battery interface error
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uint11 STATUS_FLAG_RESERVED_A = 512 # Keep zero
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uint11 STATUS_FLAG_RESERVED_B = 1024 # Keep zero
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uint11 status_flags
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@ -1 +1 @@
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Subproject commit 29e1aa6c12e3590252b102153d8c62155047a676
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Subproject commit 76b2c4c33858fcde18c50d29184273a495bdbbd1
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@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (c) 2015-2020 PX4 Development Team. All rights reserved.
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# Copyright (c) 2015-2021 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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@ -52,6 +52,9 @@ if(CONFIG_ARCH_CHIP)
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elseif(${CONFIG_ARCH_CHIP} MATCHES "stm32")
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set(UAVCAN_DRIVER "stm32")
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set(UAVCAN_TIMER 5) # The default timer is TIM5
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if (DEFINED config_uavcan_timer_override)
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set (UAVCAN_TIMER ${config_uavcan_timer_override})
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endif()
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endif()
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endif()
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@ -96,8 +99,9 @@ target_include_directories(uavcan_${UAVCAN_DRIVER}_driver PUBLIC
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# generated DSDL
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set(DSDLC_DIR "${PX4_SOURCE_DIR}/src/drivers/uavcan/dsdl")
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set(DSDLC_INPUTS
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"${DSDLC_DIR}/com"
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"${DSDLC_DIR}/ardupilot"
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"${LIBUAVCAN_DIR}/dsdl/ardupilot"
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"${LIBUAVCAN_DIR}/dsdl/com"
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"${LIBUAVCAN_DIR}/dsdl/cuav"
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"${LIBUAVCAN_DIR}/dsdl/uavcan"
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)
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set(DSDLC_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/include/dsdlc_generated")
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@ -108,7 +112,10 @@ foreach(DSDLC_INPUT ${DSDLC_INPUTS})
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list(APPEND DSDLC_INPUT_FILES ${DSDLC_NEW_INPUT_FILES})
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endforeach(DSDLC_INPUT)
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add_custom_command(OUTPUT px4_uavcan_dsdlc_run.stamp
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COMMAND ${PYTHON_EXECUTABLE} ${LIBUAVCAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc ${DSDLC_INPUTS} -O${DSDLC_OUTPUT}
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COMMAND
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${PYTHON_EXECUTABLE} ${LIBUAVCAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc
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--outdir ${DSDLC_OUTPUT} ${DSDLC_INPUTS}
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#--verbose
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COMMAND ${CMAKE_COMMAND} -E touch px4_uavcan_dsdlc_run.stamp
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DEPENDS ${DSDLC_INPUT_FILES}
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COMMENT "PX4 UAVCAN dsdl compiler"
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