/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
AP_Periph can support
*/
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include "AP_Periph.h"
#include "hal.h"
#include <canard.h>
#include <uavcan/protocol/dynamic_node_id/Allocation.h>
#include <uavcan/protocol/NodeStatus.h>
#include <uavcan/protocol/RestartNode.h>
#include <uavcan/protocol/GetNodeInfo.h>
#include <uavcan/protocol/file/BeginFirmwareUpdate.h>
#include <uavcan/protocol/param/GetSet.h>
#include <uavcan/protocol/param/ExecuteOpcode.h>
#include <uavcan/equipment/ahrs/MagneticFieldStrength.h>
#include <uavcan/equipment/gnss/Fix.h>
#include <uavcan/equipment/gnss/Auxiliary.h>
#include <uavcan/equipment/air_data/StaticPressure.h>
#include <uavcan/equipment/air_data/StaticTemperature.h>
#include <uavcan/protocol/debug/LogMessage.h>
#include <stdio.h>
#include <AP_HAL_ChibiOS/hwdef/common/stm32_util.h>
#include <drivers/stm32/canard_stm32.h>
#include "i2c.h"
extern const AP_HAL::HAL &hal;
extern AP_Periph_FW periph;
static CanardInstance canard;
static uint32_t canard_memory_pool[1024/4];
#ifndef HAL_CAN_DEFAULT_NODE_ID
#define HAL_CAN_DEFAULT_NODE_ID CANARD_BROADCAST_NODE_ID
#endif
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
/*
* Variables used for dynamic node ID allocation.
* RTFM at http://uavcan.org/Specification/6._Application_level_functions/#dynamic-node-id-allocation
*/
static uint32_t send_next_node_id_allocation_request_at_ms; ///< When the next node ID allocation request should be sent
static uint8_t node_id_allocation_unique_id_offset; ///< Depends on the stage of the next request
/*
* Node status variables
*/
static uavcan_protocol_NodeStatus node_status;
/**
* Returns a pseudo random float in the range [0, 1].
*/
static float getRandomFloat(void)
{
return float(get_random16()) / 0xFFFF;
}
/*
get cpu unique ID
*/
static void readUniqueID(uint8_t* out_uid)
{
uint8_t len = UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_UNIQUE_ID_MAX_LENGTH;
memset(out_uid, 0, len);
hal.util->get_system_id_unformatted(out_uid, len);
}
/*
handle a GET_NODE_INFO request
*/
static void handle_get_node_info(CanardInstance* ins,
CanardRxTransfer* transfer)
{
uint8_t buffer[UAVCAN_PROTOCOL_GETNODEINFO_RESPONSE_MAX_SIZE] {};
uavcan_protocol_GetNodeInfoResponse pkt {};
node_status.uptime_sec = AP_HAL::millis() / 1000U;
pkt.status = node_status;
pkt.software_version.major = CAN_APP_VERSION_MAJOR;
pkt.software_version.minor = CAN_APP_VERSION_MINOR;
readUniqueID(pkt.hardware_version.unique_id);
char name[strlen(CAN_APP_NODE_NAME)+1];
strcpy(name, CAN_APP_NODE_NAME);
pkt.name.len = strlen(CAN_APP_NODE_NAME);
pkt.name.data = (uint8_t *)name;
uint16_t total_size = uavcan_protocol_GetNodeInfoResponse_encode(&pkt, buffer);
const int16_t resp_res = canardRequestOrRespond(ins,
transfer->source_node_id,
UAVCAN_PROTOCOL_GETNODEINFO_SIGNATURE,
UAVCAN_PROTOCOL_GETNODEINFO_ID,
&transfer->transfer_id,
transfer->priority,
CanardResponse,
&buffer[0],
total_size);
if (resp_res <= 0) {
printf("Could not respond to GetNodeInfo: %d\n", resp_res);
}
}
/*
handle parameter GetSet request
*/
static void handle_param_getset(CanardInstance* ins, CanardRxTransfer* transfer)
{
uavcan_protocol_param_GetSetRequest req;
uint8_t arraybuf[UAVCAN_PROTOCOL_PARAM_GETSET_REQUEST_NAME_MAX_LENGTH];
uint8_t *arraybuf_ptr = arraybuf;
if (uavcan_protocol_param_GetSetRequest_decode(transfer, transfer->payload_len, &req, &arraybuf_ptr) < 0) {
return;
}
uavcan_protocol_param_GetSetResponse pkt {};
uint8_t name[AP_MAX_NAME_SIZE+1] {};
AP_Param *vp;
enum ap_var_type ptype;
if (req.name.len != 0 && req.name.len >= AP_MAX_NAME_SIZE) {
vp = nullptr;
} else if (req.name.len != 0 && req.name.len < AP_MAX_NAME_SIZE) {
strncpy((char *)name, (char *)req.name.data, req.name.len);
vp = AP_Param::find((char *)name, &ptype);
} else {
AP_Param::ParamToken token;
vp = AP_Param::find_by_index(req.index, &ptype, &token);
if (vp != nullptr) {
vp->copy_name_token(token, (char *)name, AP_MAX_NAME_SIZE+1, true);
}
}
if (vp != nullptr && req.name.len != 0 && req.value.union_tag != UAVCAN_PROTOCOL_PARAM_VALUE_EMPTY) {
// param set
switch (ptype) {
case AP_PARAM_INT8:
if (req.value.union_tag != UAVCAN_PROTOCOL_PARAM_VALUE_INTEGER_VALUE) {
return;
}
((AP_Int8 *)vp)->set_and_save_ifchanged(req.value.integer_value);
break;
case AP_PARAM_INT16:
if (req.value.union_tag != UAVCAN_PROTOCOL_PARAM_VALUE_INTEGER_VALUE) {
return;
}
((AP_Int16 *)vp)->set_and_save_ifchanged(req.value.integer_value);
break;
case AP_PARAM_INT32:
if (req.value.union_tag != UAVCAN_PROTOCOL_PARAM_VALUE_INTEGER_VALUE) {
return;
}
((AP_Int32 *)vp)->set_and_save_ifchanged(req.value.integer_value);
break;
case AP_PARAM_FLOAT:
if (req.value.union_tag != UAVCAN_PROTOCOL_PARAM_VALUE_REAL_VALUE) {
return;
}
((AP_Float *)vp)->set_and_save_ifchanged(req.value.real_value);
break;
default:
return;
}
}
if (vp != nullptr) {
switch (ptype) {
case AP_PARAM_INT8:
pkt.value.union_tag = UAVCAN_PROTOCOL_PARAM_VALUE_INTEGER_VALUE;
pkt.value.integer_value = ((AP_Int8 *)vp)->get();
break;
case AP_PARAM_INT16:
pkt.value.union_tag = UAVCAN_PROTOCOL_PARAM_VALUE_INTEGER_VALUE;
pkt.value.integer_value = ((AP_Int16 *)vp)->get();
break;
case AP_PARAM_INT32:
pkt.value.union_tag = UAVCAN_PROTOCOL_PARAM_VALUE_INTEGER_VALUE;
pkt.value.integer_value = ((AP_Int32 *)vp)->get();
break;
case AP_PARAM_FLOAT:
pkt.value.union_tag = UAVCAN_PROTOCOL_PARAM_VALUE_REAL_VALUE;
pkt.value.real_value = ((AP_Float *)vp)->get();
break;
default:
return;
}
pkt.name.len = strlen((char *)name);
pkt.name.data = name;
}
uint8_t buffer[UAVCAN_PROTOCOL_PARAM_GETSET_RESPONSE_MAX_SIZE];
uint16_t total_size = uavcan_protocol_param_GetSetResponse_encode(&pkt, buffer);
canardRequestOrRespond(ins,
transfer->source_node_id,
UAVCAN_PROTOCOL_PARAM_GETSET_SIGNATURE,
UAVCAN_PROTOCOL_PARAM_GETSET_ID,
&transfer->transfer_id,
transfer->priority,
CanardResponse,
&buffer[0],
total_size);
}
/*
handle parameter executeopcode request
*/
static void handle_param_executeopcode(CanardInstance* ins, CanardRxTransfer* transfer)
{
uavcan_protocol_param_ExecuteOpcodeRequest req;
if (uavcan_protocol_param_ExecuteOpcodeRequest_decode(transfer, transfer->payload_len, &req, nullptr) < 0) {
return;
}
if (req.opcode == UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_REQUEST_OPCODE_ERASE) {
StorageManager::erase();
AP_Param::erase_all();
AP_Param::load_all();
AP_Param::setup_sketch_defaults();
#ifdef HAL_PERIPH_ENABLE_GPS
AP_Param::setup_object_defaults(&periph.gps, periph.gps.var_info);
#endif
#ifdef HAL_PERIPH_ENABLE_MAG
AP_Param::setup_object_defaults(&periph.compass, periph.compass.var_info);
#endif
#ifdef HAL_PERIPH_ENABLE_BARO
AP_Param::setup_object_defaults(&periph.baro, periph.baro.var_info);
#endif
}
uavcan_protocol_param_ExecuteOpcodeResponse pkt {};
pkt.ok = true;
uint8_t buffer[UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_RESPONSE_MAX_SIZE];
uint16_t total_size = uavcan_protocol_param_ExecuteOpcodeResponse_encode(&pkt, buffer);
canardRequestOrRespond(ins,
transfer->source_node_id,
UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_SIGNATURE,
UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_ID,
&transfer->transfer_id,
transfer->priority,
CanardResponse,
&buffer[0],
total_size);
}
static void handle_begin_firmware_update(CanardInstance* ins, CanardRxTransfer* transfer)
{
// instant reboot, with backup register used to give bootloader
// the node_id we rely on the caller re-sending the firmware
// update request to the bootloader
set_fast_reboot((rtc_boot_magic)(RTC_BOOT_CANBL | canardGetLocalNodeID(ins)));
NVIC_SystemReset();
}
static void handle_allocation_response(CanardInstance* ins, CanardRxTransfer* transfer)
{
// Rule C - updating the randomized time interval
send_next_node_id_allocation_request_at_ms =
AP_HAL::millis() + UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MIN_REQUEST_PERIOD_MS +
(uint32_t)(getRandomFloat() * UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MAX_FOLLOWUP_DELAY_MS);
if (transfer->source_node_id == CANARD_BROADCAST_NODE_ID)
{
printf("Allocation request from another allocatee\n");
node_id_allocation_unique_id_offset = 0;
return;
}
// Copying the unique ID from the message
static const uint8_t UniqueIDBitOffset = 8;
uint8_t received_unique_id[UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_UNIQUE_ID_MAX_LENGTH];
uint8_t received_unique_id_len = 0;
for (; received_unique_id_len < (transfer->payload_len - (UniqueIDBitOffset / 8U)); received_unique_id_len++) {
assert(received_unique_id_len < UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_UNIQUE_ID_MAX_LENGTH);
const uint8_t bit_offset = (uint8_t)(UniqueIDBitOffset + received_unique_id_len * 8U);
(void) canardDecodeScalar(transfer, bit_offset, 8, false, &received_unique_id[received_unique_id_len]);
}
// Obtaining the local unique ID
uint8_t my_unique_id[UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_UNIQUE_ID_MAX_LENGTH];
readUniqueID(my_unique_id);
// Matching the received UID against the local one
if (memcmp(received_unique_id, my_unique_id, received_unique_id_len) != 0) {
printf("Mismatching allocation response\n");
node_id_allocation_unique_id_offset = 0;
return; // No match, return
}
if (received_unique_id_len < UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_UNIQUE_ID_MAX_LENGTH) {
// The allocator has confirmed part of unique ID, switching to the next stage and updating the timeout.
node_id_allocation_unique_id_offset = received_unique_id_len;
send_next_node_id_allocation_request_at_ms -= UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MIN_REQUEST_PERIOD_MS;
printf("Matching allocation response: %d\n", received_unique_id_len);
} else {
// Allocation complete - copying the allocated node ID from the message
uint8_t allocated_node_id = 0;
(void) canardDecodeScalar(transfer, 0, 7, false, &allocated_node_id);
assert(allocated_node_id <= 127);
canardSetLocalNodeID(ins, allocated_node_id);
printf("Node ID allocated: %d\n", allocated_node_id);
}
}
/**
* This callback is invoked by the library when a new message or request or response is received.
*/
static void onTransferReceived(CanardInstance* ins,
CanardRxTransfer* transfer)
{
/*
* Dynamic node ID allocation protocol.
* Taking this branch only if we don't have a node ID, ignoring otherwise.
*/
if (canardGetLocalNodeID(ins) == CANARD_BROADCAST_NODE_ID) {
if (transfer->transfer_type == CanardTransferTypeBroadcast &&
transfer->data_type_id == UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_ID) {
handle_allocation_response(ins, transfer);
}
return;
}
switch (transfer->data_type_id) {
case UAVCAN_PROTOCOL_GETNODEINFO_ID:
handle_get_node_info(ins, transfer);
break;
case UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_ID:
handle_begin_firmware_update(ins, transfer);
break;
case UAVCAN_PROTOCOL_RESTARTNODE_ID:
printf("RestartNode\n");
hal.scheduler->delay(10);
NVIC_SystemReset();
break;
case UAVCAN_PROTOCOL_PARAM_GETSET_ID:
handle_param_getset(ins, transfer);
break;
case UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_ID:
handle_param_executeopcode(ins, transfer);
break;
}
}
/**
* This callback is invoked by the library when it detects beginning of a new transfer on the bus that can be received
* by the local node.
* If the callback returns true, the library will receive the transfer.
* If the callback returns false, the library will ignore the transfer.
* All transfers that are addressed to other nodes are always ignored.
*/
static bool shouldAcceptTransfer(const CanardInstance* ins,
uint64_t* out_data_type_signature,
uint16_t data_type_id,
CanardTransferType transfer_type,
uint8_t source_node_id)
{
(void)source_node_id;
if (canardGetLocalNodeID(ins) == CANARD_BROADCAST_NODE_ID)
{
/*
* If we're in the process of allocation of dynamic node ID, accept only relevant transfers.
*/
if ((transfer_type == CanardTransferTypeBroadcast) &&
(data_type_id == UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_ID))
{
*out_data_type_signature = UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_SIGNATURE;
return true;
}
return false;
}
switch (data_type_id) {
case UAVCAN_PROTOCOL_GETNODEINFO_ID:
*out_data_type_signature = UAVCAN_PROTOCOL_GETNODEINFO_SIGNATURE;
return true;
case UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_ID:
*out_data_type_signature = UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_SIGNATURE;
return true;
case UAVCAN_PROTOCOL_RESTARTNODE_ID:
*out_data_type_signature = UAVCAN_PROTOCOL_RESTARTNODE_SIGNATURE;
return true;
case UAVCAN_PROTOCOL_PARAM_GETSET_ID:
*out_data_type_signature = UAVCAN_PROTOCOL_PARAM_GETSET_SIGNATURE;
return true;
case UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_ID:
*out_data_type_signature = UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_SIGNATURE;
return true;
default:
break;
}
return false;
}
static void processTx(void)
{
static uint8_t fail_count;
for (const CanardCANFrame* txf = NULL; (txf = canardPeekTxQueue(&canard)) != NULL;) {
CANTxFrame txmsg {};
txmsg.DLC = txf->data_len;
memcpy(txmsg.data8, txf->data, 8);
txmsg.EID = txf->id & CANARD_CAN_EXT_ID_MASK;
txmsg.IDE = 1;
txmsg.RTR = 0;
if (canTransmit(&CAND1, CAN_ANY_MAILBOX, &txmsg, TIME_IMMEDIATE) == MSG_OK) {
canardPopTxQueue(&canard);
fail_count = 0;
} else {
// just exit and try again later. If we fail 8 times in a row
// then start discarding to prevent the pool filling up
if (fail_count < 8) {
fail_count++;
} else {
canardPopTxQueue(&canard);
}
return;
}
}
}
static void processRx(void)
{
CANRxFrame rxmsg {};
while (canReceive(&CAND1, CAN_ANY_MAILBOX, &rxmsg, TIME_IMMEDIATE) == MSG_OK) {
CanardCANFrame rx_frame {};
//palToggleLine(HAL_GPIO_PIN_LED);
const uint64_t timestamp = AP_HAL::micros64();
memcpy(rx_frame.data, rxmsg.data8, 8);
rx_frame.data_len = rxmsg.DLC;
if(rxmsg.IDE) {
rx_frame.id = CANARD_CAN_FRAME_EFF | rxmsg.EID;
} else {
rx_frame.id = rxmsg.SID;
}
canardHandleRxFrame(&canard, &rx_frame, timestamp);
}
}
static uint16_t pool_peak_percent(void)
{
const CanardPoolAllocatorStatistics stats = canardGetPoolAllocatorStatistics(&canard);
const uint16_t peak_percent = (uint16_t)(100U * stats.peak_usage_blocks / stats.capacity_blocks);
return peak_percent;
}
/**
* This function is called at 1 Hz rate from the main loop.
*/
static void process1HzTasks(uint64_t timestamp_usec)
{
/*
* Purging transfers that are no longer transmitted. This will occasionally free up some memory.
*/
canardCleanupStaleTransfers(&canard, timestamp_usec);
/*
* Printing the memory usage statistics.
*/
{
/*
* The recommended way to establish the minimal size of the memory pool is to stress-test the application and
* record the worst case memory usage.
*/
if (pool_peak_percent() > 70) {
printf("WARNING: ENLARGE MEMORY POOL\n");
}
}
/*
* Transmitting the node status message periodically.
*/
{
uint8_t buffer[UAVCAN_PROTOCOL_NODESTATUS_MAX_SIZE];
node_status.uptime_sec = AP_HAL::millis() / 1000U;
node_status.vendor_specific_status_code = hal.util->available_memory();
uint32_t len = uavcan_protocol_NodeStatus_encode(&node_status, buffer);
const int16_t bc_res = canardBroadcast(&canard,
UAVCAN_PROTOCOL_NODESTATUS_SIGNATURE,
UAVCAN_PROTOCOL_NODESTATUS_ID,
&transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
buffer,
len);
if (bc_res <= 0) {
printf("broadcast fail %d\n", bc_res);
} else {
//printf("broadcast node status OK\n");
}
}
node_status.mode = UAVCAN_PROTOCOL_NODESTATUS_MODE_OPERATIONAL;
}
/*
wait for dynamic allocation of node ID
*/
static void can_wait_node_id(void)
{
uint8_t node_id_allocation_transfer_id = 0;
while (canardGetLocalNodeID(&canard) == CANARD_BROADCAST_NODE_ID)
{
printf("Waiting for dynamic node ID allocation... (pool %u)\n", pool_peak_percent());
send_next_node_id_allocation_request_at_ms =
AP_HAL::millis() + UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MIN_REQUEST_PERIOD_MS +
(uint32_t)(getRandomFloat() * UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MAX_FOLLOWUP_DELAY_MS);
while ((AP_HAL::millis() < send_next_node_id_allocation_request_at_ms) &&
(canardGetLocalNodeID(&canard) == CANARD_BROADCAST_NODE_ID))
{
processTx();
processRx();
canardCleanupStaleTransfers(&canard, AP_HAL::micros64());
}
if (canardGetLocalNodeID(&canard) != CANARD_BROADCAST_NODE_ID)
{
break;
}
// Structure of the request is documented in the DSDL definition
// See http://uavcan.org/Specification/6._Application_level_functions/#dynamic-node-id-allocation
uint8_t allocation_request[CANARD_CAN_FRAME_MAX_DATA_LEN - 1];
allocation_request[0] = (uint8_t)(PreferredNodeID << 1U);
if (node_id_allocation_unique_id_offset == 0)
{
allocation_request[0] |= 1; // First part of unique ID
}
uint8_t my_unique_id[UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_UNIQUE_ID_MAX_LENGTH];
readUniqueID(my_unique_id);
static const uint8_t MaxLenOfUniqueIDInRequest = 6;
uint8_t uid_size = (uint8_t)(UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_UNIQUE_ID_MAX_LENGTH - node_id_allocation_unique_id_offset);
if (uid_size > MaxLenOfUniqueIDInRequest)
{
uid_size = MaxLenOfUniqueIDInRequest;
}
// Paranoia time
assert(node_id_allocation_unique_id_offset < UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_UNIQUE_ID_MAX_LENGTH);
assert(uid_size <= MaxLenOfUniqueIDInRequest);
assert(uid_size > 0);
assert((uid_size + node_id_allocation_unique_id_offset) <= UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_UNIQUE_ID_MAX_LENGTH);
memmove(&allocation_request[1], &my_unique_id[node_id_allocation_unique_id_offset], uid_size);
// Broadcasting the request
const int16_t bcast_res = canardBroadcast(&canard,
UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_SIGNATURE,
UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_ID,
&node_id_allocation_transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
&allocation_request[0],
(uint16_t) (uid_size + 1));
if (bcast_res < 0)
{
printf("Could not broadcast ID allocation req; error %d\n", bcast_res);
}
// Preparing for timeout; if response is received, this value will be updated from the callback.
node_id_allocation_unique_id_offset = 0;
}
printf("Dynamic node ID allocation complete [%d]\n", canardGetLocalNodeID(&canard));
}
void AP_Periph_FW::can_start()
{
node_status.health = UAVCAN_PROTOCOL_NODESTATUS_HEALTH_OK;
node_status.mode = UAVCAN_PROTOCOL_NODESTATUS_MODE_INITIALIZATION;
node_status.uptime_sec = AP_HAL::millis() / 1000U;
static CANConfig cancfg = {
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
0
};
// calculate optimal CAN timings given PCLK1 and baudrate
CanardSTM32CANTimings timings {};
canardSTM32ComputeCANTimings(STM32_PCLK1, unsigned(g.can_baudrate), &timings);
cancfg.btr = CAN_BTR_SJW(0) |
CAN_BTR_TS2(timings.bit_segment_2-1) |
CAN_BTR_TS1(timings.bit_segment_1-1) |
CAN_BTR_BRP(timings.bit_rate_prescaler-1);
if (g.can_node >= 0 && g.can_node < 128) {
PreferredNodeID = g.can_node;
}
canStart(&CAND1, &cancfg);
canardInit(&canard, (uint8_t *)canard_memory_pool, sizeof(canard_memory_pool),
onTransferReceived, shouldAcceptTransfer, NULL);
if (PreferredNodeID != CANARD_BROADCAST_NODE_ID) {
canardSetLocalNodeID(&canard, PreferredNodeID);
}
// wait for dynamic node ID allocation
can_wait_node_id();
}
void AP_Periph_FW::can_update()
{
static uint32_t last_1Hz_ms;
uint32_t now = AP_HAL::millis();
if (now - last_1Hz_ms >= 1000) {
last_1Hz_ms = now;
process1HzTasks(AP_HAL::micros64());
}
can_mag_update();
can_gps_update();
can_baro_update();
processTx();
processRx();
}
/*
fix value of a float for canard float16 format
*/
static void fix_float16(float &f)
{
*(uint16_t *)&f = canardConvertNativeFloatToFloat16(f);
}
/*
update CAN magnetometer
*/
void AP_Periph_FW::can_mag_update(void)
{
#ifdef HAL_PERIPH_ENABLE_MAG
compass.read();
#if 1
if (compass.get_count() == 0) {
static uint32_t last_probe_ms;
uint32_t now = AP_HAL::millis();
if (now - last_probe_ms >= 1000) {
last_probe_ms = now;
compass.init();
}
}
#endif
if (last_mag_update_ms == compass.last_update_ms()) {
return;
}
static uint8_t counter;
if (counter++ != 100) {
return;
}
counter = 0;
last_mag_update_ms = compass.last_update_ms();
const Vector3f &field = compass.get_field();
uavcan_equipment_ahrs_MagneticFieldStrength pkt {};
// the canard dsdl compiler doesn't understand float16
for (uint8_t i=0; i<3; i++) {
pkt.magnetic_field_ga[i] = field[i] * 0.001;
fix_float16(pkt.magnetic_field_ga[i]);
}
uint8_t buffer[UAVCAN_EQUIPMENT_AHRS_MAGNETICFIELDSTRENGTH_MAX_SIZE];
uint16_t total_size = uavcan_equipment_ahrs_MagneticFieldStrength_encode(&pkt, buffer);
canardBroadcast(&canard,
UAVCAN_EQUIPMENT_AHRS_MAGNETICFIELDSTRENGTH_SIGNATURE,
UAVCAN_EQUIPMENT_AHRS_MAGNETICFIELDSTRENGTH_ID,
&transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
&buffer[0],
total_size);
#endif // HAL_PERIPH_ENABLE_MAG
}
/*
update CAN GPS
*/
void AP_Periph_FW::can_gps_update(void)
{
#ifdef HAL_PERIPH_ENABLE_GPS
gps.update();
if (last_gps_update_ms == gps.last_message_time_ms()) {
return;
}
last_gps_update_ms = gps.last_message_time_ms();
/*
send Fix packet
*/
uavcan_equipment_gnss_Fix pkt {};
const Location &loc = gps.location();
const Vector3f &vel = gps.velocity();
pkt.timestamp.usec = AP_HAL::micros64();
pkt.gnss_timestamp.usec = gps.time_epoch_usec();
pkt.gnss_time_standard = UAVCAN_EQUIPMENT_GNSS_FIX_GNSS_TIME_STANDARD_UTC;
pkt.longitude_deg_1e8 = uint64_t(loc.lng) * 10ULL;
pkt.latitude_deg_1e8 = uint64_t(loc.lat) * 10ULL;
pkt.height_ellipsoid_mm = loc.alt * 10;
pkt.height_msl_mm = loc.alt * 10;
for (uint8_t i=0; i<3; i++) {
// the canard dsdl compiler doesn't understand float16
pkt.ned_velocity[i] = vel[i];
fix_float16(pkt.ned_velocity[i]);
}
pkt.sats_used = gps.num_sats();
switch (gps.status()) {
case AP_GPS::GPS_Status::NO_GPS:
case AP_GPS::GPS_Status::NO_FIX:
pkt.status = UAVCAN_EQUIPMENT_GNSS_FIX_STATUS_NO_FIX;
break;
case AP_GPS::GPS_Status::GPS_OK_FIX_2D:
pkt.status = UAVCAN_EQUIPMENT_GNSS_FIX_STATUS_2D_FIX;
break;
case AP_GPS::GPS_Status::GPS_OK_FIX_3D:
case AP_GPS::GPS_Status::GPS_OK_FIX_3D_DGPS:
case AP_GPS::GPS_Status::GPS_OK_FIX_3D_RTK_FLOAT:
case AP_GPS::GPS_Status::GPS_OK_FIX_3D_RTK_FIXED:
pkt.status = UAVCAN_EQUIPMENT_GNSS_FIX_STATUS_3D_FIX;
break;
}
float pos_cov[9] {};
pkt.position_covariance.data = &pos_cov[0];
pkt.position_covariance.len = 9;
float vacc;
if (gps.vertical_accuracy(vacc)) {
pos_cov[8] = sq(vacc);
fix_float16(pos_cov[8]);
}
float hacc;
if (gps.horizontal_accuracy(hacc)) {
pos_cov[0] = pos_cov[4] = sq(hacc);
fix_float16(pos_cov[0]);
fix_float16(pos_cov[4]);
}
float vel_cov[9] {};
pkt.velocity_covariance.data = &pos_cov[0];
pkt.velocity_covariance.len = 9;
float sacc;
if (gps.speed_accuracy(sacc)) {
float vc3 = sq(sacc/3.0);
vel_cov[0] = vel_cov[4] = vel_cov[8] = vc3;
fix_float16(vel_cov[0]);
fix_float16(vel_cov[4]);
fix_float16(vel_cov[8]);
}
{
uint8_t buffer[UAVCAN_EQUIPMENT_GNSS_FIX_MAX_SIZE];
uint16_t total_size = uavcan_equipment_gnss_Fix_encode(&pkt, buffer);
canardBroadcast(&canard,
UAVCAN_EQUIPMENT_GNSS_FIX_SIGNATURE,
UAVCAN_EQUIPMENT_GNSS_FIX_ID,
&transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
&buffer[0],
total_size);
}
/*
send aux packet
*/
{
uavcan_equipment_gnss_Auxiliary aux {};
aux.hdop = gps.get_hdop() * 0.01;
aux.vdop = gps.get_vdop() * 0.01;
fix_float16(aux.hdop);
fix_float16(aux.vdop);
uint8_t buffer[UAVCAN_EQUIPMENT_GNSS_AUXILIARY_MAX_SIZE];
uint16_t total_size = uavcan_equipment_gnss_Auxiliary_encode(&aux, buffer);
canardBroadcast(&canard,
UAVCAN_EQUIPMENT_GNSS_AUXILIARY_SIGNATURE,
UAVCAN_EQUIPMENT_GNSS_AUXILIARY_ID,
&transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
&buffer[0],
total_size);
}
#endif // HAL_PERIPH_ENABLE_GPS
}
/*
update CAN baro
*/
void AP_Periph_FW::can_baro_update(void)
{
#ifdef HAL_PERIPH_ENABLE_BARO
baro.update();
if (last_baro_update_ms == baro.get_last_update()) {
return;
}
last_baro_update_ms = baro.get_last_update();
if (!baro.healthy()) {
// don't send any data
return;
}
const float press = baro.get_pressure();
const float temp = baro.get_temperature();
{
uavcan_equipment_air_data_StaticPressure pkt {};
pkt.static_pressure = press;
pkt.static_pressure_variance = 0; // should we make this a parameter?
fix_float16(pkt.static_pressure_variance);
uint8_t buffer[UAVCAN_EQUIPMENT_AIR_DATA_STATICPRESSURE_MAX_SIZE];
uint16_t total_size = uavcan_equipment_air_data_StaticPressure_encode(&pkt, buffer);
canardBroadcast(&canard,
UAVCAN_EQUIPMENT_AIR_DATA_STATICPRESSURE_SIGNATURE,
UAVCAN_EQUIPMENT_AIR_DATA_STATICPRESSURE_ID,
&transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
&buffer[0],
total_size);
}
{
uavcan_equipment_air_data_StaticTemperature pkt {};
pkt.static_temperature = temp + C_TO_KELVIN;
pkt.static_temperature_variance = 0; // should we make this a parameter?
fix_float16(pkt.static_temperature);
fix_float16(pkt.static_temperature_variance);
uint8_t buffer[UAVCAN_EQUIPMENT_AIR_DATA_STATICTEMPERATURE_MAX_SIZE];
uint16_t total_size = uavcan_equipment_air_data_StaticTemperature_encode(&pkt, buffer);
canardBroadcast(&canard,
UAVCAN_EQUIPMENT_AIR_DATA_STATICTEMPERATURE_SIGNATURE,
UAVCAN_EQUIPMENT_AIR_DATA_STATICTEMPERATURE_ID,
&transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
&buffer[0],
total_size);
}
#endif // HAL_PERIPH_ENABLE_BARO
}
// printf to CAN LogMessage for debugging
void can_printf(const char *fmt, ...)
{
uavcan_protocol_debug_LogMessage pkt {};
uint8_t buffer[UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_MAX_SIZE];
char tbuf[100];
va_list ap;
va_start(ap, fmt);
uint32_t n = vsnprintf(tbuf, sizeof(tbuf), fmt, ap);
va_end(ap);
pkt.text.len = n;
pkt.text.data = (uint8_t *)&tbuf[0];
uint32_t len = uavcan_protocol_debug_LogMessage_encode(&pkt, buffer);
canardBroadcast(&canard,
UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_SIGNATURE,
UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_ID,
&transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
buffer,
len);
}