AP_Periph: added application descriptor

this is used by MissionPlanner to see if correct fw is already loaded

Tools/AP_Periph/AP_Periph.cpp

@@ -47,6 +47,8 @@ void loop(void)
 
 static uint32_t start_ms;
 
+const struct app_descriptor app_descriptor __attribute__((section(".app_descriptor")));;
+
 void AP_Periph_FW::init()
 {
     hal.uartA->begin(AP_SERIALMANAGER_CONSOLE_BAUD, 32, 128);
@@ -65,6 +67,17 @@ void AP_Periph_FW::init()
     AFIO->MAPR = mapr | AFIO_MAPR_CAN_REMAP_REMAP2 | AFIO_MAPR_SPI3_REMAP;
 #endif
 
+    printf("Booting %08x:%08x %u/%u len=%u 0x%08x\n",
+           app_descriptor.image_crc1,
+           app_descriptor.image_crc2,
+           app_descriptor.version_major, app_descriptor.version_minor,
+           app_descriptor.image_size,
+           app_descriptor.git_hash);
+
+    if (hal.util->was_watchdog_reset()) {
+        printf("Reboot after watchdog reset\n");
+    }
+
 #ifdef HAL_PERIPH_ENABLE_GPS
     gps.init(serial_manager);
 #endif

Tools/AP_Periph/AP_Periph.h

@@ -13,6 +13,27 @@
 #include "Parameters.h"
 #include "ch.h"
 
+#ifndef CAN_APP_VERSION_MAJOR
+#define CAN_APP_VERSION_MAJOR                                           1
+#endif
+#ifndef CAN_APP_VERSION_MINOR
+#define CAN_APP_VERSION_MINOR                                           0
+#endif
+
+/*
+  app descriptor compatible with MissionPlanner
+ */
+struct app_descriptor {
+    uint8_t sig[8] = { 0x40, 0xa2, 0xe4, 0xf1, 0x64, 0x68, 0x91, 0x06 };
+    uint32_t image_crc1 = 0;
+    uint32_t image_crc2 = 0;
+    uint32_t image_size = 0;
+    uint32_t git_hash = 0;
+    uint8_t  version_major = CAN_APP_VERSION_MAJOR;
+    uint8_t version_minor = CAN_APP_VERSION_MINOR;
+    uint8_t reserved[6] = { 0xff, 0xff, 0xff, 0xff, 0xff, 0xff };
+};
+extern const struct app_descriptor app_descriptor;
 
 class AP_Periph_FW {
 public:

Tools/AP_Periph/can.cpp

@@ -60,12 +60,6 @@ static uint32_t canard_memory_pool[2048/4];
 static uint8_t PreferredNodeID = HAL_CAN_DEFAULT_NODE_ID;
 static uint8_t transfer_id;
 
-#ifndef CAN_APP_VERSION_MAJOR
-#define CAN_APP_VERSION_MAJOR                                           1
-#endif
-#ifndef CAN_APP_VERSION_MINOR
-#define CAN_APP_VERSION_MINOR                                           0
-#endif
 #ifndef CAN_APP_NODE_NAME
 #define CAN_APP_NODE_NAME                                               "org.ardupilot.ap_periph"
 #endif
@@ -117,6 +111,11 @@ static void handle_get_node_info(CanardInstance* ins,
     pkt.status = node_status;
     pkt.software_version.major = CAN_APP_VERSION_MAJOR;
     pkt.software_version.minor = CAN_APP_VERSION_MINOR;
+    pkt.software_version.optional_field_flags = UAVCAN_PROTOCOL_SOFTWAREVERSION_OPTIONAL_FIELD_FLAG_VCS_COMMIT | UAVCAN_PROTOCOL_SOFTWAREVERSION_OPTIONAL_FIELD_FLAG_IMAGE_CRC;
+    pkt.software_version.vcs_commit = app_descriptor.git_hash;
+    uint32_t *crc = (uint32_t *)&pkt.software_version.image_crc;
+    crc[0] = app_descriptor.image_crc1;
+    crc[1] = app_descriptor.image_crc2;
 
     readUniqueID(pkt.hardware_version.unique_id);
 
@@ -555,6 +554,10 @@ static void can_safety_button_update(void)
 static void onTransferReceived(CanardInstance* ins,
                                CanardRxTransfer* transfer)
 {
+#ifdef HAL_GPIO_PIN_LED_CAN1
+    palToggleLine(HAL_GPIO_PIN_LED_CAN1);
+#endif
+
     /*
      * Dynamic node ID allocation protocol.
      * Taking this branch only if we don't have a node ID, ignoring otherwise.