update UAVCAN-v0 dsdl to DroneCAN

.gitmodules

@@ -4,8 +4,8 @@
 	branch = master
 [submodule "src/drivers/uavcan/libuavcan"]
 	path = src/drivers/uavcan/libuavcan
-	url = https://github.com/PX4/libuavcan.git
+	url = https://github.com/dronecan/libuavcan.git
-	branch = px4
+	branch = main
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git

src/drivers/uavcan/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2015-2021 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -99,10 +99,10 @@ target_include_directories(uavcan_${UAVCAN_DRIVER}_driver PUBLIC
 # generated DSDL
 set(DSDLC_DIR "${CMAKE_CURRENT_SOURCE_DIR}/dsdl")
 set(DSDLC_INPUTS
-	"${DSDLC_DIR}/com"
+	"${LIBUAVCAN_DIR}/dsdl/ardupilot"
-	"${DSDLC_DIR}/ardupilot"
+	"${LIBUAVCAN_DIR}/dsdl/com"
+	"${LIBUAVCAN_DIR}/dsdl/cuav"
 	"${LIBUAVCAN_DIR}/dsdl/uavcan"
-	"${DSDLC_DIR}/cuav"
 )
 set(DSDLC_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/include/dsdlc_generated")
 
@@ -112,7 +112,10 @@ foreach(DSDLC_INPUT ${DSDLC_INPUTS})
 	list(APPEND DSDLC_INPUT_FILES ${DSDLC_NEW_INPUT_FILES})
 endforeach(DSDLC_INPUT)
 add_custom_command(OUTPUT px4_uavcan_dsdlc_run.stamp
-	COMMAND ${PYTHON_EXECUTABLE} ${LIBUAVCAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc ${DSDLC_INPUTS} -O${DSDLC_OUTPUT}
+	COMMAND
+		${PYTHON_EXECUTABLE} ${LIBUAVCAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc
+			--outdir ${DSDLC_OUTPUT} ${DSDLC_INPUTS}
+			#--verbose
 	COMMAND ${CMAKE_COMMAND} -E touch px4_uavcan_dsdlc_run.stamp
 	DEPENDS ${DSDLC_INPUT_FILES}
 	COMMENT "PX4 UAVCAN dsdl compiler"

src/drivers/uavcan/dsdl/ardupilot/indication/21000.SafetyState.uavcan

@@ -1,7 +0,0 @@
-#
-# support for Safety LED on UAVCAN
-
-uint8 STATUS_SAFETY_ON           = 0
-uint8 STATUS_SAFETY_OFF          = 255
-
-uint8 status

src/drivers/uavcan/dsdl/ardupilot/indication/21001.Button.uavcan

@@ -1,11 +0,0 @@
-#
-# support for buttons on UAVCAN
-# while a button is being pressed this message should be sent at 10Hz
-
-uint8 BUTTON_SAFETY      = 1
-
-uint8 button
-
-# number of 0.1s units the button has been pressed for. If over 255
-# then send 255
-uint8 press_time

src/drivers/uavcan/dsdl/com/hex/equipment/flow/20200.Measurement.uavcan

@@ -1,4 +0,0 @@
-float32 integration_interval
-float32[2] rate_gyro_integral
-float32[2] flow_integral
-uint8 quality

src/drivers/uavcan/dsdl/cuav/equipment/power/20300.CBAT.uavcan

@@ -1,41 +0,0 @@
-#
-# support for CUAV Smart Battery on UAVCAN
-#
-
-float32 temperature                 # The surface temperature of the battery
-float32 voltage                     # The total voltage of the battery
-float32[<=15] voltage_cell          # Battery individual cell voltages
-uint8 cell_count                    # Number of cells
-float32 current                     # The current flowing through the sense resistor
-float32 average_current             # The average current flowing through the sense resistor
-float32 average_power               # The average power of the current discharge
-float32 available_energy            # The predicted charge or energy remaining in the battery
-float32 remaining_capacity          # The compensated battery capacity remaining
-float32 full_charge_capacity        # The compensated capacity of the battery when fully charged
-float32 design_capacity             # The design capacity of the battery
-uint16 average_time_to_empty        # The predicted remaining battery life at the present rate of discharge, in minutes
-uint16 average_time_to_full         # The predicted remaining time until the battery reaches full charge, in minutes
-uint7 state_of_health               # Health of the battery
-uint7 state_of_charge               # Percent of the full charge [0, 100]
-uint7 max_error                     # max error, expected margin of error in % in the state-of-charge calculation with a range of 1 to 100%
-uint16 serial_number                # serial number of the battery pack
-uint16 manufacture_date             # manufacture date, part of serial number of the battery pack
-uint16 cycle_count                  # number of discharge cycles the battery has experienced
-uint16 over_discharge_count         # Number of battery overdischarge
-float32 passed_charge               # The amount of charge passing through the sense resistor
-float32 nominal_voltage             # Nominal voltage of the battery pack
-bool is_powering_off                # Power off event imminent indication, false if unknown
-uint16 interface_error              # interface error counter
-
-uint11 STATUS_FLAG_IN_USE       = 1     # The battery is currently used as a power supply
-uint11 STATUS_FLAG_CHARGING     = 2     # Charger is active
-uint11 STATUS_FLAG_CHARGED      = 4     # Charging complete, but the charger is still active
-uint11 STATUS_FLAG_TEMP_HOT     = 8     # Battery temperature is above normal
-uint11 STATUS_FLAG_TEMP_COLD    = 16    # Battery temperature is below normal
-uint11 STATUS_FLAG_OVERLOAD     = 32    # Safe operating area violation
-uint11 STATUS_FLAG_BAD_BATTERY  = 64    # This battery should not be used anymore (e.g. low SOH)
-uint11 STATUS_FLAG_NEED_SERVICE = 128   # This battery requires maintenance (e.g. balancing, full recharge)
-uint11 STATUS_FLAG_BMS_ERROR    = 256   # Battery management system/controller error, smart battery interface error
-uint11 STATUS_FLAG_RESERVED_A   = 512   # Keep zero
-uint11 STATUS_FLAG_RESERVED_B   = 1024  # Keep zero
-uint11 status_flags

src/drivers/uavcan/libuavcan

@@ -1 +1 @@
-Subproject commit 29e1aa6c12e3590252b102153d8c62155047a676
+Subproject commit 76b2c4c33858fcde18c50d29184273a495bdbbd1

src/drivers/uavcannode/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2015-2020 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2015-2021 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -52,6 +52,9 @@ if(CONFIG_ARCH_CHIP)
 	elseif(${CONFIG_ARCH_CHIP} MATCHES "stm32")
 		set(UAVCAN_DRIVER "stm32")
 		set(UAVCAN_TIMER 5) # The default timer is TIM5
+		if (DEFINED config_uavcan_timer_override)
+			set (UAVCAN_TIMER  ${config_uavcan_timer_override})
+		endif()
 	endif()
 endif()
 
@@ -96,8 +99,9 @@ target_include_directories(uavcan_${UAVCAN_DRIVER}_driver PUBLIC
 # generated DSDL
 set(DSDLC_DIR "${PX4_SOURCE_DIR}/src/drivers/uavcan/dsdl")
 set(DSDLC_INPUTS
-	"${DSDLC_DIR}/com"
+	"${LIBUAVCAN_DIR}/dsdl/ardupilot"
-	"${DSDLC_DIR}/ardupilot"
+	"${LIBUAVCAN_DIR}/dsdl/com"
+	"${LIBUAVCAN_DIR}/dsdl/cuav"
 	"${LIBUAVCAN_DIR}/dsdl/uavcan"
 )
 set(DSDLC_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/include/dsdlc_generated")
@@ -108,7 +112,10 @@ foreach(DSDLC_INPUT ${DSDLC_INPUTS})
 	list(APPEND DSDLC_INPUT_FILES ${DSDLC_NEW_INPUT_FILES})
 endforeach(DSDLC_INPUT)
 add_custom_command(OUTPUT px4_uavcan_dsdlc_run.stamp
-	COMMAND ${PYTHON_EXECUTABLE} ${LIBUAVCAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc ${DSDLC_INPUTS} -O${DSDLC_OUTPUT}
+	COMMAND
+		${PYTHON_EXECUTABLE} ${LIBUAVCAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc
+			--outdir ${DSDLC_OUTPUT} ${DSDLC_INPUTS}
+			#--verbose
 	COMMAND ${CMAKE_COMMAND} -E touch px4_uavcan_dsdlc_run.stamp
 	DEPENDS ${DSDLC_INPUT_FILES}
 	COMMENT "PX4 UAVCAN dsdl compiler"