int uavcannode_start(int argc, char *argv[])
{
resources("Before board_app_initialize");
board_app_initialize(NULL);
resources("After board_app_initialize");
// CAN bitrate
int32_t bitrate = 0;
// Node ID
int32_t node_id = 0;
// Did the bootloader auto baud and get a node ID Allocated
bootloader_app_shared_t shared;
int valid = bootloader_app_shared_read(&shared, BootLoader);
if (valid == 0) {
bitrate = shared.bus_speed;
node_id = shared.node_id;
// Invalidate to prevent deja vu
bootloader_app_shared_invalidate();
} else {
// Node ID
(void)param_get(param_find("CANNODE_NODE_ID"), &node_id);
(void)param_get(param_find("CANNODE_BITRATE"), &bitrate);
}
if (node_id < 0 || node_id > uavcan::NodeID::Max || !uavcan::NodeID(node_id).isUnicast()) {
warnx("Invalid Node ID %i", node_id);
::exit(1);
}
// Start
warnx("Node ID %u, bitrate %u", node_id, bitrate);
int rv = UavcanNode::start(node_id, bitrate);
resources("After UavcanNode::start");
::sleep(1);
return rv;
}
static int uavcannode_start()
{
board_app_initialize();
// CAN bitrate
int32_t bitrate = 0;
// Node ID
int32_t node_id = 0;
// Did the bootloader auto baud and get a node ID Allocated
bootloader_app_shared_t shared;
int valid = bootloader_app_shared_read(&shared, BootLoader);
if (valid == 0) {
bitrate = shared.bus_speed;
node_id = shared.node_id;
// Invalidate to prevent deja vu
bootloader_app_shared_invalidate();
} else {
TODO(Need non vol Paramter sotrage)
// Node ID
node_id = 123;
bitrate = 1000000;
}
if (node_id < 0 || node_id > uavcan::NodeID::Max || !uavcan::NodeID(node_id).isUnicast()) {
PX4_INFO("Invalid Node ID %li", node_id);
return 1;
}
// Start
PX4_INFO("Node ID %lu, bitrate %lu", node_id, bitrate);
return UavcanNode::start(node_id, bitrate);
}
