tunnel_uavcan module

UAVCAN device over uavcan.tunnel.Broadcast message.

No detailed description...

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="tunnel_uavcan">
  b'<define name="TUNNEL_UAVCAN_PROTOCOL" value="3" />\n    '
  b'<define name="TUNNEL_UAVCAN_CHANNEL_ID" value="0" />\n  '
  b'<configure name="TUNNEL_UAVCAN" value="uavcan1" default="uavcan1" />\n    '
</module>

Module configuration options

Configure Options

• name: TUNNEL_UAVCAN value: uavcan1
  Description: uavcan interface

Define Options

• name: TUNNEL_UAVCAN_PROTOCOL value: 3
  Description: uavcan.tunnel.Protocol enum value.
• name: TUNNEL_UAVCAN_CHANNEL_ID value: 0
  Description: uavcan.tunnel.Broadcast.channel_id

Module functions

Init Functions

These initialization functions are called once on startup.

• tunnel_uavcan_init()

Files

Header Files

The following headers are automatically included in modules.h

• tunnel_uavcan.h

Source Files

• modules/datalink/tunnel_uavcan.c
• utils/ring_buffer.c
• /var/include/DSDLcode/src/uavcan.tunnel.Broadcast.c

Raw tunnel_uavcan.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="tunnel_uavcan" dir="datalink" task="radio_control">
  <doc>
    <description>UAVCAN device over `uavcan.tunnel.Broadcast` message.</description>
    <configure name="TUNNEL_UAVCAN" value="uavcan1" default="uavcan1" description="uavcan interface"/>
    <define name="TUNNEL_UAVCAN_PROTOCOL" description="uavcan.tunnel.Protocol enum value." value="3"/>
    <define name="TUNNEL_UAVCAN_CHANNEL_ID" description="uavcan.tunnel.Broadcast.channel_id" value="0"/>
  </doc>
  <dep>
    <depends>uavcan</depends>
    <provides></provides>
  </dep>
  <header>
    <file name="tunnel_uavcan.h"/>
  </header>
  <init fun="tunnel_uavcan_init()"/>
  <makefile>
    <configure name="TUNNEL_UAVCAN" default="uavcan1" case="upper|lower"/>
    <define name="TUNNEL_UAVCAN" value="$(TUNNEL_UAVCAN_LOWER)" />
    <define name="USE_TUNNEL_UAVCAN"/>
    <file name="tunnel_uavcan.c" dir="modules/datalink"/>
    <file name="ring_buffer.c" dir="utils" />
 
    <!-- Load DSDL generated files-->
    <include name="$(PAPARAZZI_HOME)/var/include/DSDLcode/include"/>
    <file name="uavcan.tunnel.Broadcast.c" dir="$(PAPARAZZI_HOME)/var/include/DSDLcode/src"/>
    <test>
      <include name="$(PAPARAZZI_HOME)/sw/ext/dronecan/libcanard"/>
      <define name="USE_CAN1" />
      <define name="UAVCAN_USE_CAN1" />
    </test>
  </makefile>
</module>