Commit 6864779f authored by Pavel Kirienko's avatar Pavel Kirienko Committed by Lorenz Meier
Browse files

Multiple stages for UAVCAN_ENABLE

parent 4296dac8
......@@ -3,7 +3,26 @@
# UAVCAN initialization script.
#
#
# Mirriring the UAVCAN_ENABLE param value to an eponymous environment variable.
# TODO there should be a smarter way.
#
set UAVCAN_ENABLE 0
if param compare UAVCAN_ENABLE 1
then
set UAVCAN_ENABLE 1
fi
if param compare UAVCAN_ENABLE 2
then
set UAVCAN_ENABLE 2
fi
echo "[i] UAVCAN_ENABLE is $UAVCAN_ENABLE"
#
# Starting stuff according to UAVCAN_ENABLE value
#
if [ $UAVCAN_ENABLE -ge 1 ]
then
if uavcan start
then
......@@ -16,3 +35,14 @@ then
tone_alarm $TUNE_ERR
fi
fi
if [ $UAVCAN_ENABLE -ge 2 ]
then
if uavcan start fw
then
echo "[i] UAVCAN servers started"
else
echo "[i] ERROR: Could not start UAVCAN servers"
tone_alarm $TUNE_ERR
fi
fi
......@@ -41,10 +41,13 @@
/**
* Enable UAVCAN.
*
* Enables support for UAVCAN-interfaced actuators and sensors.
* Allowed values:
* 0 - UAVCAN disabled.
* 1 - Enabled support for UAVCAN actuators and sensors.
* 2 - Enabled support for dynamic node ID allocation and firmware update.
*
* @min 0
* @max 1
* @max 2
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_ENABLE, 0);
......
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