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uavcannode: Add CANNODE_TERM parameter (configure CAN termination on ARK cannodes)

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- adds functionality to enable the built in can termination on the ARK cannodes
This commit is contained in:
Alex Klimaj
2021-10-15 07:29:56 -06:00
committed by GitHub
parent 55910caec5
commit b482986e8e
5 changed files with 25 additions and 0 deletions
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boards/ark/can-flow/src/board_config.h
+1
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@@ -48,6 +48,7 @@
/* CAN termination software control */ /* CAN termination software control */
#define GPIO_CAN1_TERMINATION /* PB13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13) #define GPIO_CAN1_TERMINATION /* PB13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
#define GPIO_CAN_TERM GPIO_CAN1_TERMINATION
/* Boot config */ /* Boot config */
#define GPIO_BOOT_CONFIG /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI) #define GPIO_BOOT_CONFIG /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI)
boards/ark/can-gps/src/board_config.h
+1
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@@ -60,6 +60,7 @@
/* CAN termination software control */ /* CAN termination software control */
#define GPIO_CAN1_TERMINATION /* PB13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13) #define GPIO_CAN1_TERMINATION /* PB13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
#define GPIO_CAN_TERM GPIO_CAN1_TERMINATION
/* ICM42688p FSYNC */ /* ICM42688p FSYNC */
#define GPIO_42688P_FSYNC /* PB8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8) #define GPIO_42688P_FSYNC /* PB8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
boards/ark/can-rtk-gps/src/board_config.h
+1
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@@ -60,6 +60,7 @@
/* CAN termination software control */ /* CAN termination software control */
#define GPIO_CAN1_TERMINATION /* PB13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13) #define GPIO_CAN1_TERMINATION /* PB13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
#define GPIO_CAN_TERM GPIO_CAN1_TERMINATION
/* ICM42688p FSYNC */ /* ICM42688p FSYNC */
#define GPIO_42688P_FSYNC /* PB8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8) #define GPIO_42688P_FSYNC /* PB8 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
src/drivers/uavcannode/UavcanNode.cpp
+13
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@@ -513,6 +513,19 @@ extern "C" int uavcannode_start(int argc, char *argv[])
// Sarted byt the bootloader, we must pet it // Sarted byt the bootloader, we must pet it
watchdog_pet(); watchdog_pet();
#if defined(GPIO_CAN_TERM)
int32_t can_term = 0;
param_get(param_find("CANNODE_TERM"), &can_term);
if (can_term != 0) {
px4_arch_gpiowrite(GPIO_CAN_TERM, true);
} else {
px4_arch_gpiowrite(GPIO_CAN_TERM, false);
}
#endif
// CAN bitrate // CAN bitrate
int32_t bitrate = 0; int32_t bitrate = 0;
src/drivers/uavcannode/uavcannode_params.c
+9
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@@ -50,3 +50,12 @@ PARAM_DEFINE_INT32(CANNODE_NODE_ID, 120);
* @group UAVCAN * @group UAVCAN
*/ */
PARAM_DEFINE_INT32(CANNODE_BITRATE, 1000000); PARAM_DEFINE_INT32(CANNODE_BITRATE, 1000000);
/**
* CAN built-in bus termination
*
* @boolean
* @max 1
* @group UAVCAN
*/
PARAM_DEFINE_INT32(CANNODE_TERM, 0);