Added module.yaml and serial port configuration.

ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover

@@ -73,10 +73,13 @@ then
 	param set RBCLW_BAUD 8
 	param set RBCLW_COUNTS_REV 1200
 	param set RBCLW_ADDRESS 128
+	# param set SER_TEL4_BAUD 115200
+	# 104 corresponds to Telem 4
+	param set RBCLW_SER_CFG 104
 fi
 
 # Start this driver after setting parameters, because the driver uses some of those parameters.
-roboclaw start /dev/ttyS3
+# roboclaw start /dev/ttyS3
 
 # Configure this as rover
 set MAV_TYPE 10

src/drivers/roboclaw/CMakeLists.txt

@@ -37,6 +37,7 @@ px4_add_module(
 	SRCS
 		roboclaw_main.cpp
 		RoboClaw.cpp
-	DEPENDS
+	MODULE_CONFIG
+		module.yaml
 	)
 

src/drivers/roboclaw/RoboClaw.cpp

@@ -77,7 +77,7 @@
 
 bool RoboClaw::taskShouldExit = false;
 
-RoboClaw::RoboClaw(const char *deviceName):
+RoboClaw::RoboClaw(const char *deviceName, const char *baudRateParam):
 	_uart(0),
 	_uart_set(),
 	_uart_timeout{.tv_sec = 0, .tv_usec = TIMEOUT_US},
@@ -87,11 +87,10 @@ RoboClaw::RoboClaw(const char *deviceName):
 	_motorSpeeds{0, 0}
 
 {
-
 	_param_handles.actuator_write_period_ms = 	param_find("RBCLW_WRITE_PER");
 	_param_handles.encoder_read_period_ms = 	param_find("RBCLW_READ_PER");
 	_param_handles.counts_per_rev = 			param_find("RBCLW_COUNTS_REV");
-	_param_handles.serial_baud_rate = 			param_find("RBCLW_BAUD");
+	_param_handles.serial_baud_rate = 			param_find(baudRateParam);
 	_param_handles.address = 					param_find("RBCLW_ADDRESS");
 
 	_parameters_update();
@@ -580,39 +579,39 @@ void RoboClaw::_parameters_update()
 	param_get(_param_handles.serial_baud_rate, &baudRate);
 
 	switch (baudRate) {
-	case 1:
+	case 2400:
 		_parameters.serial_baud_rate = B2400;
 		break;
 
-	case 2:
+	case 9600:
 		_parameters.serial_baud_rate = B9600;
 		break;
 
-	case 3:
+	case 19200:
 		_parameters.serial_baud_rate = B19200;
 		break;
 
-	case 4:
+	case 38400:
 		_parameters.serial_baud_rate = B38400;
 		break;
 
-	case 5:
+	case 57600:
 		_parameters.serial_baud_rate = B57600;
 		break;
 
-	case 6:
+	case 115200:
 		_parameters.serial_baud_rate = B115200;
 		break;
 
-	case 7:
+	case 230400:
 		_parameters.serial_baud_rate = B230400;
 		break;
 
-	case 8:
+	case 460800:
 		_parameters.serial_baud_rate = B460800;
 		break;
 
 	default:
-		_parameters.serial_baud_rate = B9600;
+		_parameters.serial_baud_rate = B2400;
 	}
 }

src/drivers/roboclaw/RoboClaw.hpp

@@ -84,10 +84,9 @@ public:
 	 * 	serial port e.g. "/dev/ttyS2"
 	 * @param address the adddress  of the motor
 	 * 	(selectable on roboclaw)
-	 * @param pulsesPerRev # of encoder
-	 *  pulses per revolution of wheel
+	 * @param baudRateParam Name of the parameter that holds the baud rate of this serial port
 	 */
-	RoboClaw(const char *deviceName);
+	RoboClaw(const char *deviceName, const char *baudRateParam);
 
 	/**
 	 * deconstructor

src/drivers/roboclaw/module.yaml

@@ -0,0 +1,6 @@
+module_name: Roboclaw Driver
+serial_config:
+  - command: roboclaw start ${SERIAL_DEV} ${BAUD_PARAM}
+    port_config_param:
+      name: RBCLW_SER_CFG
+      group: Roboclaw

src/drivers/roboclaw/roboclaw_main.cpp

@@ -109,13 +109,14 @@ the driver terminates immediately.
 
 The command to start this driver is:
 
- $ roboclaw start <device>
+ $ roboclaw start <device> <baud>
 
 `<device>` is the name of the UART port. On the Pixhawk 4, this is `/dev/ttyS3`.
+`<baud>` is te baud rate.
 
 All available commands are:
 
- - `$ roboclaw start <device>`
+ - `$ roboclaw start <device> <baud>`
  - `$ roboclaw status`
  - `$ roboclaw stop`
 	)DESCR_STR");
@@ -132,7 +133,7 @@ All available commands are:
 int roboclaw_main(int argc, char *argv[])
 {
 
-	if (argc < 2) {
+	if (argc < 4) {
 		usage();
 	}
 
@@ -148,7 +149,7 @@ int roboclaw_main(int argc, char *argv[])
 		deamon_task = px4_task_spawn_cmd("roboclaw",
 						 SCHED_DEFAULT,
 						 SCHED_PRIORITY_MAX - 10,
-						 1500,
+						 2000,
 						 roboclaw_thread_main,
 						 (char *const *)argv);
 		return 0;
@@ -183,14 +184,15 @@ int roboclaw_thread_main(int argc, char *argv[])
 	argv += 2;
 
 	if (argc < 2) {
-		printf("usage: roboclaw start <device>\n");
+		printf("usage: roboclaw start <device> <baud>\n");
 		return -1;
 	}
 
 	const char *deviceName = argv[1];
+	const char *baudRate = argv[2];
 
 	// start
-	RoboClaw roboclaw(deviceName);
+	RoboClaw roboclaw(deviceName, baudRate);
 
 	thread_running = true;
 

src/drivers/roboclaw/roboclaw_params.c

@@ -98,17 +98,17 @@ PARAM_DEFINE_INT32(RBCLW_ADDRESS, 128);
  * Roboclaw serial baud rate
  *
  * Baud rate of the serial communication with the Roboclaw. The Roboclaw must be configured to match this rate.
- * @min 1
- * @max 8
- * @value 1 2400 baud
- * @value 2 9600 baud
- * @value 3 19200 baud
- * @value 4 38400 baud
- * @value 5 57600 baud
- * @value 6 115200 baud
- * @value 7 230400 baud
- * @value 8 460800 baud
+ * @min 2400
+ * @max 460800
+ * @value 2400 2400 baud
+ * @value 9600 9600 baud
+ * @value 19200 19200 baud
+ * @value 38400 38400 baud
+ * @value 57600 57600 baud
+ * @value 115200 115200 baud
+ * @value 230400 230400 baud
+ * @value 460800 460800 baud
  * @group Roboclaw driver
  * @reboot_required true
  */
-PARAM_DEFINE_INT32(RBCLW_BAUD, 1);
+PARAM_DEFINE_INT32(RBCLW_BAUD, 2400);