uavcan module

UAVCan interface for transmitting/receiving uavcan messages on CAN busses

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="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()

Files

Header Files

The following headers are automatically included in modules.h

• uavcan.h

Source Files

• /sw/ext/libcanard/canard.c
• arch dependent: modules/uavcan/uavcan.c

Raw uavcan.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="uavcan" dir="uavcan">
  <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>
  <header>
    <file name="uavcan.h" dir="modules/uavcan"/>
  </header>
  <init fun="uavcan_init()"/>
  <makefile target="ap">
    <!-- Enable the CAN busses if needed -->
    <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)"/>
 
    <!-- Load canard -->
    <include name="$(PAPARAZZI_SRC)/sw/ext/libcanard"/>
    <file name="canard.c" dir="$(PAPARAZZI_SRC)/sw/ext/libcanard"/>
 
    <!-- Load uavcan itself -->
    <file_arch name="uavcan.c" dir="modules/uavcan"/>
  </makefile>
</module>