nusrobomaster · AndreWongZH · Jan 7, 2021 · Jan 12, 2021 · Jan 12, 2021 · Jan 12, 2021
diff --git a/ROMFS/robomaster_common/init.d/rc.interface b/ROMFS/robomaster_common/init.d/rc.interface
diff --git a/ROMFS/robomaster_common/init.d/rcS b/ROMFS/robomaster_common/init.d/rcS
@@ -26,10 +26,10 @@ set IO_PRESENT no
 # set MAV_TYPE none
 # set MIXER none
 # set MIXER_AUX none
-# set MIXER_FILE none
+set MIXER_FILE none
 # set MK_MODE none
 # set MKBLCTRL_ARG ""
-# set OUTPUT_MODE none
+set OUTPUT_MODE none
 # set PARAM_FILE /fs/microsd/params
 # set PWM_AUX_DISARMED p:PWM_AUX_DISARMED
 # set PWM_AUX_MAX p:PWM_AUX_MAX
@@ -41,7 +41,7 @@ set IO_PRESENT no
 # set PWM_MIN p:PWM_MIN
 # set PWM_OUT none
 # set PWM_RATE p:PWM_RATE
-# set RC_INPUT_ARGS ""
+set RC_INPUT_ARGS ""
 # set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
 set STARTUP_TUNE 1
 # set USE_IO no
@@ -93,7 +93,7 @@ fi
 # Needs to be started after the parameters are loaded (for CBRK_BUZZER).
 # Note that this will still play the already published startup tone.
 #
-tone_alarm start
+# tone_alarm start
 
 #
 # Play the startup tune (if not disabled or there is an error)
@@ -189,6 +189,10 @@ then
 fi
 unset BOARD_RC_MAVLINK
 
+#
+# Start djican to create can_output0
+#
+djican start
 
 #
 # Start UART/Serial device drivers.
@@ -199,8 +203,9 @@ sh /etc/init.d/rc.serial
 
 
 # Must be started after the serial config is read
-rc_input start $RC_INPUT_ARGS
-# rc_input start /dev/ttyS0
+echo $RC_INPUT_ARGS
+# rc_input start $RC_INPUT_ARGS
+# rc_input start -d /dev/ttyS0
 
 #
 # Configure vehicle type specific parameters.
@@ -250,10 +255,10 @@ unset IO_PRESENT
 # unset MAV_TYPE
 # unset MIXER
 # unset MIXER_AUX
-# unset MIXER_FILE
+unset MIXER_FILE
 # unset MK_MODE
 # unset MKBLCTRL_ARG
-# unset OUTPUT_MODE
+unset OUTPUT_MODE
 unset PARAM_DEFAULTS_VER
 # unset PARAM_FILE
 # unset PWM_AUX_DISARMED
@@ -266,7 +271,7 @@ unset PARAM_DEFAULTS_VER
 # unset PWM_MIN
 # unset PWM_OUT
 # unset PWM_RATE
-# unset RC_INPUT_ARGS
+unset RC_INPUT_ARGS
 # unset SDCARD_MIXERS_PATH
 unset STARTUP_TUNE
 # unset USE_IO

diff --git a/boards/robomaster/dev-c/default.cmake b/boards/robomaster/dev-c/default.cmake
@@ -12,7 +12,8 @@ px4_add_board(
 	TESTING
 	# UAVCAN_INTERFACES 2
 	SERIAL_PORTS
-		URT6:/dev/ttyS0
+		RC:/dev/ttyS0
+		# URT6:/dev/ttyS0
 	DRIVERS
 		# adc
 		# barometer # all available barometer drivers
@@ -47,6 +48,8 @@ px4_add_board(
 		# test_ppm
 		tone_alarm
 		# uavcan
+		djican
+		rc_input
 	MODULES
 		commander
 		attitude_estimator_q
@@ -83,7 +86,7 @@ px4_add_board(
 		# hardfault_log
 		i2cdetect
 		# led_control
-		# mixer
+		mixer
 		# motor_ramp
 		# motor_test
 		# mtd

diff --git a/boards/robomaster/dev-c/nuttx-config/include/board.h b/boards/robomaster/dev-c/nuttx-config/include/board.h
@@ -295,6 +295,15 @@
 #define GPIO_USART6_RX GPIO_USART6_RX_2
 #define GPIO_USART6_TX GPIO_USART6_TX_2
 
+
+/* DBUS
+ *
+ * USART3 RX: PC11
+ */
+#define GPIO_USART3_RX GPIO_USART3_RX_2
+#define GPIO_USART3_TX 0
+
+
 /* PWM
  *
  * The STM3240G-Eval has no real on-board PWM devices, but the board can be
@@ -408,8 +417,8 @@
 #define GPIO_CAN1_RX        GPIO_CAN1_RX_3
 #define GPIO_CAN1_TX        GPIO_CAN1_TX_3
 
-#define GPIO_CAN2_RX        GPIO_CAN2_RX_2
-#define GPIO_CAN2_TX        GPIO_CAN2_TX_2
+// #define GPIO_CAN2_RX        GPIO_CAN2_RX_2
+// #define GPIO_CAN2_TX        GPIO_CAN2_TX_2
 
 /* I2C.  Only I2C1 is available on the STM3240G-EVAL.  I2C1_SCL and I2C1_SDA are
  * available on the following pins:
@@ -468,7 +477,7 @@
 #define GPIO_SPI1_MOSI    GPIO_SPI1_MOSI_1
 
 // dma stuff
-#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
+// #define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
 // #define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
 
 /* DMA Channel/Stream Selections *****************************************************/

diff --git a/boards/robomaster/dev-c/nuttx-config/nsh/defconfig b/boards/robomaster/dev-c/nuttx-config/nsh/defconfig
@@ -46,9 +46,16 @@ CONFIG_CDCACM_TXBUFSIZE=2000
 CONFIG_CDCACM_VENDORID=0x26ac
 CONFIG_CDCACM_VENDORSTR="NUS RoboMaster"
 CONFIG_CLOCK_MONOTONIC=y
+CONFIG_DEBUG_CAN=y
+CONFIG_DEBUG_CAN_ERROR=y
+CONFIG_DEBUG_CAN_WARN=y
+CONFIG_DEBUG_ERROR=y
+CONFIG_DEBUG_FEATURES=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_INFO=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_WARN=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@@ -100,6 +107,7 @@ CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_STRERROR=y
+CONFIG_NSH_USBCONSOLE=y
 CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=4
@@ -129,6 +137,8 @@ CONFIG_STDIO_BUFFER_SIZE=32
 CONFIG_STM32_BBSRAM=y
 CONFIG_STM32_BBSRAM_FILES=5
 CONFIG_STM32_BKPSRAM=y
+CONFIG_STM32_CAN1=y
+CONFIG_STM32_CAN1_BAUD=1000000
 CONFIG_STM32_CCMDATARAM=y
 CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
 CONFIG_STM32_FLASH_CONFIG_G=y
@@ -146,6 +156,7 @@ CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32_SPI1=y
 CONFIG_STM32_USART1=y
+CONFIG_STM32_USART3=y
 CONFIG_STM32_USART6=y
 CONFIG_STM32_USART_BREAKS=y
 CONFIG_STM32_USART_SINGLEWIRE=y
@@ -154,6 +165,9 @@ CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_TIME_EXTENDED=y
 CONFIG_USART1_SERIAL_CONSOLE=y
+CONFIG_USART3_BAUD=100000
+CONFIG_USART3_PARITY=2
+CONFIG_USART3_RXDMA=y
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USER_ENTRYPOINT="nsh_main"
diff --git a/boards/robomaster/dev-c/src/board_config.h b/boards/robomaster/dev-c/src/board_config.h
@@ -76,14 +76,19 @@
 // #define PX4IO_SERIAL_VECTOR	STM32_IRQ_USART6
 // #define PX4IO_SERIAL_TX_DMAMAP	DMAMAP_USART6_TX
 // #define PX4IO_SERIAL_RX_DMAMAP	DMAMAP_USART6_RX
-// #define PX4IO_SERIAL_RCC_REG	STM32_RCC_APB2ENR
+// #define PX4IO_SERIAL_RCC_REG	STM32_RCC_APB1ENR
 // #define PX4IO_SERIAL_RCC_EN	RCC_APB2ENR_USART6EN
 // #define PX4IO_SERIAL_CLOCK	STM32_PCLK2_FREQUENCY
 // #define PX4IO_SERIAL_BITRATE	1500000			/* 1.5Mbps -> max rate for IO */
 
 #define  FLASH_BASED_PARAMS
 // #define  FLASH_BASED_DATAMAN
 
+// setting uavcan stuff
+// #define UAVCAN_STM32_NUTTX
+// #define RCC_APB1ENR_CAN1EN
+// #define UAVCAN_NUM_IFACES_RUNTIME 1
+
 /* PX4FMU GPIOs ***********************************************************************************/
 
 /**

diff --git a/boards/robomaster/dev-c/src/can.c b/boards/robomaster/dev-c/src/can.c
@@ -94,6 +94,7 @@ int can_devinit(void);
 
 int can_devinit(void)
 {
+	syslog(LOG_INFO, "can dev init\n");
 	static bool initialized = false;
 	struct can_dev_s *can;
 	int ret;
@@ -113,6 +114,7 @@ int can_devinit(void)
 		/* Register the CAN driver at "/dev/can0" */
 
 		ret = can_register("/dev/can0", can);
+		syslog(LOG_INFO, "can dev registered at /dev/can0\n");
 
 		if (ret < 0) {
 			canerr("ERROR: can_register failed: %d\n", ret);

diff --git a/boards/robomaster/dev-c/src/init.c b/boards/robomaster/dev-c/src/init.c
@@ -76,6 +76,8 @@
 #include <px4_platform_common/init.h>
 #include <px4_platform/board_dma_alloc.h>
 
+#include "can.c"
+
 #include <dataman/dataman.h>
 
 #if defined(FLASH_BASED_PARAMS)
@@ -378,6 +380,8 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	/* configure SPI interfaces (after the hw is determined) */
 	stm32_spiinitialize();
 
+	can_devinit();
+
 	px4_platform_init();
 
 	/* configure the DMA allocator */

diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
@@ -49,6 +49,7 @@ set(msg_files
 	collision_report.msg
 	commander_state.msg
 	cpuload.msg
+	can_motor.msg
 	debug_array.msg
 	debug_key_value.msg
 	debug_value.msg

diff --git a/msg/can_motor.msg b/msg/can_motor.msg
@@ -0,0 +1,17 @@
+uint64 timestamp		# time since system start (microseconds)
+
+# uint8 data0
+# uint8 data1
+# uint8 data2
+# uint8 data3
+# uint8 data4
+# uint8 data5
+# uint8 data6
+# uint8 data7
+
+# values read from the dji motor
+
+uint16 mech_angle
+uint16 rot_speed
+uint16 torque
+uint8 temp
diff --git a/platforms/nuttx/src/px4/common/px4_init.cpp b/platforms/nuttx/src/px4/common/px4_init.cpp
@@ -47,7 +47,6 @@
 
 int px4_platform_init(void)
 {
-	syslog(LOG_INFO, "px4_platform_init\n");
 
 syslog(LOG_INFO, "px4_platform_init\n");
 

diff --git a/src/drivers/djican/CMakeLists.txt b/src/drivers/djican/CMakeLists.txt
@@ -0,0 +1,8 @@
+px4_add_module(
+	MODULE drivers__djican
+	MAIN djican
+	SRCS
+		djican.cpp
+	DEPENDS
+		px4_work_queue
+	)
-Original file line number
+Diff line change
@@ Expand Up / @@ -47,7 +47,6 @@ @@
     int px4_platform_init(void)
     {
-    	syslog(LOG_INFO, "px4_platform_init\n");
     syslog(LOG_INFO, "px4_platform_init\n");
@@ Expand Down @@