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refactor(drivers/cyphal): convert params.c to module.yaml

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Convert 1 parameter file(s) from legacy C format to YAML
module configuration.
This commit is contained in:
Jacob Dahl
2026-03-17 21:55:31 -08:00
committed by Jacob Dahl
parent e90666b75a
commit a462dc11d6
3 changed files with 186 additions and 271 deletions
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src/drivers/cyphal/CMakeLists.txt
+1
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@@ -133,6 +133,7 @@ px4_add_module(
${LIBCANARD_DIR}/libcanard/canard.h
MODULE_CONFIG
module.yaml
parameters.yaml
DEPENDS
git_libcanard
git_public_regulated_data_types
src/drivers/cyphal/parameters.c
-271
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@@ -1,271 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* Cyphal
*
* 0 - Cyphal disabled.
* 1 - Enables Cyphal
*
* @boolean
* @reboot_required true
* @group Cyphal
*/
PARAM_DEFINE_INT32(CYPHAL_ENABLE, 1);
/**
* Cyphal Node ID.
*
* Read the specs at https://opencyphal.org/ to learn more about Node ID.
*
* @min -1
* @max 125
* @reboot_required true
* @group Cyphal
*/
PARAM_DEFINE_INT32(CYPHAL_ID, 1);
/**
* UAVCAN/CAN v1 bus bitrate.
*
* @unit bit/s
* @min 20000
* @max 1000000
* @reboot_required true
* @group Cyphal
*/
PARAM_DEFINE_INT32(CYPHAL_BAUD, 1000000);
/* Subscription port ID, -1 will be treated as unset */
/**
* ESC 0 subscription port ID.
*
* @min -1
* @max 6143
* @group Cyphal
*/
PARAM_DEFINE_INT32(UCAN1_ESC0_SUB, -1);
/**
* GPS 0 subscription port ID.
*
* @min -1
* @max 6143
* @group Cyphal
*/
PARAM_DEFINE_INT32(UCAN1_GPS0_SUB, -1);
/**
* GPS 1 subscription port ID.
*
* @min -1
* @max 6143
* @group Cyphal
*/
PARAM_DEFINE_INT32(UCAN1_GPS1_SUB, -1);
/**
* UDRAL battery energy source subscription port ID.
*
* @min -1
* @max 6143
* @group Cyphal
*/
PARAM_DEFINE_INT32(UCAN1_BMS_ES_SUB, -1);
/**
* UDRAL battery status subscription port ID.
*
* @min -1
* @max 6143
* @group Cyphal
*/
PARAM_DEFINE_INT32(UCAN1_BMS_BS_SUB, -1);
/**
* UDRAL battery parameters subscription port ID.
*
* @min -1
* @max 6143
* @group Cyphal
*/
PARAM_DEFINE_INT32(UCAN1_BMS_BP_SUB, -1);
/**
* Cyphal legacy battery port ID.
*
* @min -1
* @max 6143
* @group Cyphal
*/
PARAM_DEFINE_INT32(UCAN1_LG_BMS_SUB, -1);
/**
* sensor_gps uORB over Cyphal subscription port ID.
*
* @min -1
* @max 6143
* @group Cyphal
*/
PARAM_DEFINE_INT32(UCAN1_UORB_GPS, -1);
/**
* sensor_gps uORB over Cyphal publication port ID.
*
* @min -1
* @max 6143
* @group Cyphal
*/
PARAM_DEFINE_INT32(UCAN1_UORB_GPS_P, -1);
// Publication Port IDs
/**
* Cyphal ESC publication port ID.
*
* @min -1
* @max 6143
* @group Cyphal
*/
PARAM_DEFINE_INT32(UCAN1_ESC_PUB, -1);
/**
* Cyphal ESC readiness port ID.
*
* @min -1
* @max 6143
* @group Cyphal
*/
PARAM_DEFINE_INT32(UCAN1_READ_PUB, -1);
/**
* Cyphal ESC 0 zubax feedback port ID.
*
* @min -1
* @max 6143
* @group Cyphal
*/
PARAM_DEFINE_INT32(UCAN1_FB0_SUB, -1);
/**
* Cyphal ESC 1 zubax feedback port ID.
*
* @min -1
* @max 6143
* @group Cyphal
*/
PARAM_DEFINE_INT32(UCAN1_FB1_SUB, -1);
/**
* Cyphal ESC 2 zubax feedback port ID.
*
* @min -1
* @max 6143
* @group Cyphal
*/
PARAM_DEFINE_INT32(UCAN1_FB2_SUB, -1);
/**
* Cyphal ESC 3 zubax feedback port ID.
*
* @min -1
* @max 6143
* @group Cyphal
*/
PARAM_DEFINE_INT32(UCAN1_FB3_SUB, -1);
/**
* Cyphal ESC 4 zubax feedback port ID.
*
* @min -1
* @max 6143
* @group Cyphal
*/
PARAM_DEFINE_INT32(UCAN1_FB4_SUB, -1);
/**
* Cyphal ESC 5 zubax feedback port ID.
*
* @min -1
* @max 6143
* @group Cyphal
*/
PARAM_DEFINE_INT32(UCAN1_FB5_SUB, -1);
/**
* Cyphal ESC 6 zubax feedback port ID.
*
* @min -1
* @max 6143
* @group Cyphal
*/
PARAM_DEFINE_INT32(UCAN1_FB6_SUB, -1);
/**
* Cyphal ESC 7 zubax feedback port ID.
*
* @min -1
* @max 6143
* @group Cyphal
*/
PARAM_DEFINE_INT32(UCAN1_FB7_SUB, -1);
/**
* Cyphal GPS publication port ID.
*
* @min -1
* @max 6143
* @group Cyphal
*/
PARAM_DEFINE_INT32(UCAN1_GPS_PUB, -1);
/**
* Cyphal Servo publication port ID.
*
* @min -1
* @max 6143
* @group Cyphal
*/
PARAM_DEFINE_INT32(UCAN1_SERVO_PUB, -1);
/**
* actuator_outputs uORB over Cyphal publication port ID.
*
* @min -1
* @max 6143
* @group Cyphal
*/
PARAM_DEFINE_INT32(UCAN1_ACTR_PUB, -1);
src/drivers/cyphal/parameters.yaml
+185
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@@ -0,0 +1,185 @@
module_name: cyphal
parameters:
- group: Cyphal
definitions:
CYPHAL_ENABLE:
description:
short: Cyphal
long: |-
0 - Cyphal disabled.
1 - Enables Cyphal
type: boolean
default: 1
reboot_required: true
CYPHAL_ID:
description:
short: Cyphal Node ID
long: Read the specs at https://opencyphal.org/ to learn more about Node ID.
type: int32
default: 1
min: -1
max: 125
reboot_required: true
CYPHAL_BAUD:
description:
short: UAVCAN/CAN v1 bus bitrate
type: int32
default: 1000000
unit: bit/s
min: 20000
max: 1000000
reboot_required: true
UCAN1_ESC0_SUB:
description:
short: ESC 0 subscription port ID
type: int32
default: -1
min: -1
max: 6143
UCAN1_GPS0_SUB:
description:
short: GPS 0 subscription port ID
type: int32
default: -1
min: -1
max: 6143
UCAN1_GPS1_SUB:
description:
short: GPS 1 subscription port ID
type: int32
default: -1
min: -1
max: 6143
UCAN1_BMS_ES_SUB:
description:
short: UDRAL battery energy source subscription port ID
type: int32
default: -1
min: -1
max: 6143
UCAN1_BMS_BS_SUB:
description:
short: UDRAL battery status subscription port ID
type: int32
default: -1
min: -1
max: 6143
UCAN1_BMS_BP_SUB:
description:
short: UDRAL battery parameters subscription port ID
type: int32
default: -1
min: -1
max: 6143
UCAN1_LG_BMS_SUB:
description:
short: Cyphal legacy battery port ID
type: int32
default: -1
min: -1
max: 6143
UCAN1_UORB_GPS:
description:
short: sensor_gps uORB over Cyphal subscription port ID
type: int32
default: -1
min: -1
max: 6143
UCAN1_UORB_GPS_P:
description:
short: sensor_gps uORB over Cyphal publication port ID
type: int32
default: -1
min: -1
max: 6143
UCAN1_ESC_PUB:
description:
short: Cyphal ESC publication port ID
type: int32
default: -1
min: -1
max: 6143
UCAN1_READ_PUB:
description:
short: Cyphal ESC readiness port ID
type: int32
default: -1
min: -1
max: 6143
UCAN1_FB0_SUB:
description:
short: Cyphal ESC 0 zubax feedback port ID
type: int32
default: -1
min: -1
max: 6143
UCAN1_FB1_SUB:
description:
short: Cyphal ESC 1 zubax feedback port ID
type: int32
default: -1
min: -1
max: 6143
UCAN1_FB2_SUB:
description:
short: Cyphal ESC 2 zubax feedback port ID
type: int32
default: -1
min: -1
max: 6143
UCAN1_FB3_SUB:
description:
short: Cyphal ESC 3 zubax feedback port ID
type: int32
default: -1
min: -1
max: 6143
UCAN1_FB4_SUB:
description:
short: Cyphal ESC 4 zubax feedback port ID
type: int32
default: -1
min: -1
max: 6143
UCAN1_FB5_SUB:
description:
short: Cyphal ESC 5 zubax feedback port ID
type: int32
default: -1
min: -1
max: 6143
UCAN1_FB6_SUB:
description:
short: Cyphal ESC 6 zubax feedback port ID
type: int32
default: -1
min: -1
max: 6143
UCAN1_FB7_SUB:
description:
short: Cyphal ESC 7 zubax feedback port ID
type: int32
default: -1
min: -1
max: 6143
UCAN1_GPS_PUB:
description:
short: Cyphal GPS publication port ID
type: int32
default: -1
min: -1
max: 6143
UCAN1_SERVO_PUB:
description:
short: Cyphal Servo publication port ID
type: int32
default: -1
min: -1
max: 6143
UCAN1_ACTR_PUB:
description:
short: actuator_outputs uORB over Cyphal publication port ID
type: int32
default: -1
min: -1
max: 6143