Example for airframe file

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

<module name="uavcan">
  b'<define name="UAVCAN_NODE_ID" value="100" />\n   '
  b'<define name="UAVCAN_BAUDRATE" value="1000000" />\n  '
  b'<configure name="UAVCAN_USE_CAN1" value="FALSE" />\n   '
  b'<configure name="UAVCAN_USE_CAN2" value="FALSE" />\n   '
</module>

Module configuration options

Configure Options

name: UAVCAN_USE_CAN1 value: FALSE
Description: Enable UAVCAN on CAN1 interface
name: UAVCAN_USE_CAN2 value: FALSE
Description: Enable UAVCAN on CAN2 interface

Define Options

name: UAVCAN_NODE_ID value: 100
Description: The UAVCAN node ID of the AP
name: UAVCAN_BAUDRATE value: 1000000
Description: The baudrate of the CAN interface

Module functions

Init Functions

These initialization functions are called once on startup.

uavcan_init()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

uavcan_reporting()
- Frequency in Hz: 2
- Autorun: LOCK
  Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

uavcan.h

Source Files

Raw uavcan.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="uavcan" dir="uavcan" task="core">
  <doc>
    <description>
      UAVCan interface for transmitting/receiving uavcan messages on CAN busses
   </description>
   <configure name="UAVCAN_USE_CAN1" value="FALSE" description="Enable UAVCAN on CAN1 interface"/>
   <configure name="UAVCAN_USE_CAN2" value="FALSE" description="Enable UAVCAN on CAN2 interface"/>
   <define name="UAVCAN_NODE_ID" value="100" description="The UAVCAN node ID of the AP"/>
   <define name="UAVCAN_BAUDRATE" value="1000000" description="The baudrate of the CAN interface"/>
  </doc>
  <dep>
    <depends>can</depends>
  </dep>
  <header>
    <file name="uavcan.h" dir="modules/uavcan"/>
  </header>
  <init fun="uavcan_init()"/>
  <periodic fun="uavcan_reporting()" freq="2"/>
  <makefile>
    <!-- Enable the CAN busses if needed -->
    <configure name="UAVCAN_USE_CAN1" default="FALSE"/>
    <configure name="UAVCAN_USE_CAN2" default="FALSE"/>
    <define name="USE_CAN1" cond="ifeq ($(UAVCAN_USE_CAN1), TRUE)"/>
    <define name="USE_CAN2" cond="ifeq ($(UAVCAN_USE_CAN2), TRUE)"/>
    <define name="UAVCAN_USE_CAN1" value="$(UAVCAN_USE_CAN1)"/>
    <define name="UAVCAN_USE_CAN2" value="$(UAVCAN_USE_CAN2)"/>
    <define name="CANARD_ALLOCATE_SEM"/>
 
    <!-- Load canard -->
    <include name="$(PAPARAZZI_SRC)/sw/ext/dronecan/libcanard"/>
    <file name="canard.c" dir="$(PAPARAZZI_SRC)/sw/ext/dronecan/libcanard"/>
 
    <!-- Load DSDL generated files-->
    <include name="$(PAPARAZZI_HOME)/var/include/DSDLcode/include"/>
    <file name="uavcan.protocol.NodeStatus.c" dir="$(PAPARAZZI_HOME)/var/include/DSDLcode/src"/>
    <file name="uavcan.protocol.GetNodeInfo_req.c" dir="$(PAPARAZZI_HOME)/var/include/DSDLcode/src"/>
    <file name="uavcan.protocol.GetNodeInfo_res.c" dir="$(PAPARAZZI_HOME)/var/include/DSDLcode/src"/>
    <file name="uavcan.protocol.dynamic_node_id.Allocation.c" dir="$(PAPARAZZI_HOME)/var/include/DSDLcode/src"/>
 
    <!-- Load uavcan itself -->
    <file name="uavcan.c" dir="modules/uavcan"/>
    <file name="uavcan_reporting.c" dir="modules/uavcan"/>
    <file name="uavcan_allocator.c" dir="modules/uavcan"/>
    <file name="framed_ring_buffer.c" dir="utils"/>
    <file name="kv_store.c" dir="utils"/>
  </makefile>
</module>