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Upgrade libcanard to 3.0 and rename uavcan_v1 to cyphal

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Did some prep work for redundant interfaces by introducing CanardHandle class to decouple physical interfaces from cyphal.cpp
This commit is contained in:
Peter van der Perk
2022-05-10 10:10:04 +02:00
committed by Daniel Agar
parent 3ac8fdbe29
commit b1ad4e8864
60 changed files with 967 additions and 802 deletions
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boards/nxp/fmuk66-e/socketcan.px4board
+3 -3
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@@ -1,4 +1,4 @@
CONFIG_DRIVERS_UAVCAN=n
CONFIG_DRIVERS_UAVCAN_V1=y
CONFIG_UAVCAN_V1_BMS_SUBSCRIBER=y
CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_SUBSCRIBER=y
CONFIG_DRIVERS_CYPHAL=y
CONFIG_CYPHAL_BMS_SUBSCRIBER=y
CONFIG_CYPHAL_UORB_SENSOR_GPS_SUBSCRIBER=y
boards/nxp/fmuk66-v3/socketcan.px4board
+8 -8
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@@ -1,9 +1,9 @@
CONFIG_DRIVERS_UAVCAN=n
CONFIG_DRIVERS_UAVCAN_V1=y
CONFIG_UAVCAN_V1_BMS_SUBSCRIBER=y
CONFIG_UAVCAN_V1_ESC_SUBSCRIBER=y
CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_0=y
CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_1=y
CONFIG_UAVCAN_V1_READINESS_PUBLISHER=y
CONFIG_UAVCAN_V1_UORB_ACTUATOR_OUTPUTS_PUBLISHER=y
CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_SUBSCRIBER=y
CONFIG_DRIVERS_CYPHAL=y
CONFIG_CYPHAL_BMS_SUBSCRIBER=y
CONFIG_CYPHAL_ESC_SUBSCRIBER=y
CONFIG_CYPHAL_GNSS_SUBSCRIBER_0=y
CONFIG_CYPHAL_GNSS_SUBSCRIBER_1=y
CONFIG_CYPHAL_READINESS_PUBLISHER=y
CONFIG_CYPHAL_UORB_ACTUATOR_OUTPUTS_PUBLISHER=y
CONFIG_CYPHAL_UORB_SENSOR_GPS_SUBSCRIBER=y
boards/nxp/ucans32k146/default.px4board
+4 -4
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@@ -7,10 +7,10 @@ CONFIG_DRIVERS_BOOTLOADERS=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
CONFIG_DRIVERS_PWM_OUT=y
CONFIG_DRIVERS_UAVCAN_V1=y
CONFIG_UAVCAN_V1_CLIENT=y
CONFIG_UAVCAN_V1_APP_DESCRIPTOR=y
CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_PUBLISHER=y
CONFIG_DRIVERS_CYPHAL=y
CONFIG_CYPHAL_CLIENT=y
CONFIG_CYPHAL_APP_DESCRIPTOR=y
CONFIG_CYPHAL_UORB_SENSOR_GPS_PUBLISHER=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_SYSTEMCMDS_I2CDETECT=y
CONFIG_SYSTEMCMDS_LED_CONTROL=y
boards/nxp/ucans32k146/init/rc.board_defaults
+1 -1
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@@ -6,4 +6,4 @@
pwm_out mode_pwm1 start
ifup can0
uavcan_v1 start
cyphal start
boards/px4/fmu-v5/uavcanv1.px4board → boards/px4/fmu-v5/cyphal.px4board
+3 -3
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@@ -2,6 +2,6 @@
CONFIG_DRIVERS_HEATER=n
CONFIG_DRIVERS_OSD=n
CONFIG_DRIVERS_UAVCAN=n
CONFIG_DRIVERS_UAVCAN_V1=y
CONFIG_UAVCAN_V1_BMS_SUBSCRIBER=y
CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_SUBSCRIBER=y
CONFIG_DRIVERS_CYPHAL=y
CONFIG_CYPHAL_BMS_SUBSCRIBER=y
CONFIG_CYPHAL_UORB_SENSOR_GPS_SUBSCRIBER=y