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zr-v4/Tools/AP_Bootloader/can.cpp

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/*
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/>.
*/
/*
CAN bootloader support
*/
#include <AP_HAL/AP_HAL.h>
#if HAL_USE_CAN == TRUE
#include <AP_Math/AP_Math.h>
#include <AP_Math/crc.h>
#include <canard.h>
#include "support.h"
#include <uavcan/protocol/dynamic_node_id/Allocation.h>
#include <uavcan/protocol/file/BeginFirmwareUpdate.h>
#include <uavcan/protocol/file/Read.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 "can.h"
#include "bl_protocol.h"
#include <drivers/stm32/canard_stm32.h>
#include "app_comms.h"
#include <stdio.h>
static CanardInstance canard;
static uint32_t canard_memory_pool[4096/4];
#ifndef HAL_CAN_DEFAULT_NODE_ID
#define HAL_CAN_DEFAULT_NODE_ID CANARD_BROADCAST_NODE_ID
#endif
static uint8_t initial_node_id = HAL_CAN_DEFAULT_NODE_ID;
// can config for 1MBit
static uint32_t baudrate = 1000000U;
static CANConfig cancfg = {
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
0 // filled in below
};
#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
static uint8_t node_id_allocation_transfer_id;
static uavcan_protocol_NodeStatus node_status;
static uint32_t send_next_node_id_allocation_request_at_ms;
static uint8_t node_id_allocation_unique_id_offset;
static uint32_t app_first_word = 0xFFFFFFFF;
static struct {
uint64_t ofs;
uint32_t last_ms;
uint8_t node_id;
uint8_t transfer_id;
uint8_t path[UAVCAN_PROTOCOL_FILE_PATH_PATH_MAX_LENGTH+1];
uint8_t sector;
uint32_t sector_ofs;
} fw_update;
/*
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);
memcpy(out_uid, (const void *)UDID_START, MIN(len,12));
}
/*
simple 16 bit random number generator
*/
static uint16_t get_randomu16(void)
{
static uint32_t m_z = 1234;
static uint32_t m_w = 76542;
m_z = 36969 * (m_z & 0xFFFFu) + (m_z >> 16);
m_w = 18000 * (m_w & 0xFFFFu) + (m_w >> 16);
return ((m_z << 16) + m_w) & 0xFFFF;
}
/**
* Returns a pseudo random float in the range [0, 1].
*/
static float getRandomFloat(void)
{
return float(get_randomu16()) / 0xFFFF;
}
/*
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);
canardRequestOrRespond(ins,
transfer->source_node_id,
UAVCAN_PROTOCOL_GETNODEINFO_SIGNATURE,
UAVCAN_PROTOCOL_GETNODEINFO_ID,
&transfer->transfer_id,
transfer->priority,
CanardResponse,
&buffer[0],
total_size);
}
/*
send a read for a fw update
*/
static void send_fw_read(void)
{
uint32_t now = AP_HAL::millis();
if (now - fw_update.last_ms < 250) {
// the server may still be responding
return;
}
fw_update.last_ms = now;
uint8_t buffer[UAVCAN_PROTOCOL_FILE_READ_REQUEST_MAX_SIZE];
canardEncodeScalar(buffer, 0, 40, &fw_update.ofs);
uint32_t offset = 40;
uint8_t len = strlen((const char *)fw_update.path);
for (uint8_t i=0; i<len; i++) {
canardEncodeScalar(buffer, offset, 8, &fw_update.path[i]);
offset += 8;
}
uint32_t total_size = (offset+7)/8;
canardRequestOrRespond(&canard,
fw_update.node_id,
UAVCAN_PROTOCOL_FILE_READ_SIGNATURE,
UAVCAN_PROTOCOL_FILE_READ_ID,
&fw_update.transfer_id,
CANARD_TRANSFER_PRIORITY_HIGH,
CanardRequest,
&buffer[0],
total_size);
}
/*
handle response to file read for fw update
*/
static void handle_file_read_response(CanardInstance* ins, CanardRxTransfer* transfer)
{
if ((transfer->transfer_id+1)%256 != fw_update.transfer_id ||
transfer->source_node_id != fw_update.node_id) {
return;
}
int16_t error = 0;
canardDecodeScalar(transfer, 0, 16, true, (void*)&error);
uint16_t len = transfer->payload_len - 2;
uint32_t offset = 16;
uint32_t buf32[(len+3)/4];
uint8_t *buf = (uint8_t *)&buf32[0];
for (uint16_t i=0; i<len; i++) {
canardDecodeScalar(transfer, offset, 8, false, (void*)&buf[i]);
offset += 8;
}
const uint32_t sector_size = flash_func_sector_size(fw_update.sector);
if (fw_update.sector_ofs == 0) {
flash_func_erase_sector(fw_update.sector);
}
if (fw_update.sector_ofs+len > sector_size) {
flash_func_erase_sector(fw_update.sector+1);
}
for (uint16_t i=0; i<len/4; i++) {
if (i == 0 && fw_update.sector == 0 && fw_update.ofs == 0) {
// keep first word aside, to be flashed last
app_first_word = buf32[0];
} else {
flash_func_write_word(fw_update.ofs+i*4, buf32[i]);
}
}
fw_update.ofs += len;
fw_update.sector_ofs += len;
if (fw_update.sector_ofs >= flash_func_sector_size(fw_update.sector)) {
fw_update.sector++;
fw_update.sector_ofs -= sector_size;
}
if (len < UAVCAN_PROTOCOL_FILE_READ_RESPONSE_DATA_MAX_LENGTH) {
fw_update.node_id = 0;
// now flash the first word
flash_func_write_word(0, app_first_word);
if (can_check_firmware()) {
jump_to_app();
}
}
// show offset number we are flashing in kbyte as crude progress indicator
node_status.vendor_specific_status_code = 1 + (fw_update.ofs / 1024U);
fw_update.last_ms = 0;
}
/*
handle a begin firmware update request. We start pulling in the file data
*/
static void handle_begin_firmware_update(CanardInstance* ins, CanardRxTransfer* transfer)
{
// manual decoding due to TAO bug in libcanard generated code
if (transfer->payload_len < 1 || transfer->payload_len > sizeof(fw_update.path)+1) {
return;
}
uint32_t offset = 0;
canardDecodeScalar(transfer, 0, 8, false, (void*)&fw_update.node_id);
offset += 8;
for (uint8_t i=0; i<transfer->payload_len-1; i++) {
canardDecodeScalar(transfer, offset, 8, false, (void*)&fw_update.path[i]);
offset += 8;
}
fw_update.ofs = 0;
fw_update.last_ms = 0;
fw_update.sector = 0;
fw_update.sector_ofs = 0;
if (fw_update.node_id == 0) {
fw_update.node_id = transfer->source_node_id;
}
uint8_t buffer[UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_RESPONSE_MAX_SIZE];
uavcan_protocol_file_BeginFirmwareUpdateResponse reply {};
reply.error = UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_RESPONSE_ERROR_OK;
uint32_t total_size = uavcan_protocol_file_BeginFirmwareUpdateResponse_encode(&reply, buffer);
canardRequestOrRespond(ins,
transfer->source_node_id,
UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_SIGNATURE,
UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_ID,
&transfer->transfer_id,
transfer->priority,
CanardResponse,
&buffer[0],
total_size);
send_fw_read();
}
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)
{
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) {
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;
} 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);
}
}
/**
* 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_FILE_READ_ID:
handle_file_read_response(ins, transfer);
break;
case UAVCAN_PROTOCOL_RESTARTNODE_ID:
NVIC_SystemReset();
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_FILE_READ_ID:
*out_data_type_signature = UAVCAN_PROTOCOL_FILE_READ_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_BOOTLOADER);
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);
}
}
/*
handle waiting for a node ID
*/
static void can_handle_DNA(void)
{
if (canardGetLocalNodeID(&canard) != CANARD_BROADCAST_NODE_ID) {
return;
}
if (AP_HAL::millis() < send_next_node_id_allocation_request_at_ms) {
return;
}
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);
// 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)(CANARD_BROADCAST_NODE_ID << 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;
}
memmove(&allocation_request[1], &my_unique_id[node_id_allocation_unique_id_offset], uid_size);
// Broadcasting the request
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));
// Preparing for timeout; if response is received, this value will be updated from the callback.
node_id_allocation_unique_id_offset = 0;
}
static void send_node_status(void)
{
uint8_t buffer[UAVCAN_PROTOCOL_NODESTATUS_MAX_SIZE];
node_status.uptime_sec = AP_HAL::millis() / 1000U;
uint32_t len = uavcan_protocol_NodeStatus_encode(&node_status, buffer);
static uint8_t transfer_id; // Note that the transfer ID variable MUST BE STATIC (or heap-allocated)!
canardBroadcast(&canard,
UAVCAN_PROTOCOL_NODESTATUS_SIGNATURE,
UAVCAN_PROTOCOL_NODESTATUS_ID,
&transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
buffer,
len);
}
/**
* This function is called at 1 Hz rate from the main loop.
*/
static void process1HzTasks(uint64_t timestamp_usec)
{
canardCleanupStaleTransfers(&canard, timestamp_usec);
if (canardGetLocalNodeID(&canard) != CANARD_BROADCAST_NODE_ID) {
node_status.mode = fw_update.node_id?UAVCAN_PROTOCOL_NODESTATUS_MODE_SOFTWARE_UPDATE:UAVCAN_PROTOCOL_NODESTATUS_MODE_OPERATIONAL;
send_node_status();
}
}
void can_set_node_id(uint8_t node_id)
{
initial_node_id = node_id;
}
/*
check firmware CRC to see if it matches
*/
bool can_check_firmware(void)
{
const uint8_t sig[8] = { 0x40, 0xa2, 0xe4, 0xf1, 0x64, 0x68, 0x91, 0x06 };
const uint8_t *flash = (const uint8_t *)(FLASH_LOAD_ADDRESS + FLASH_BOOTLOADER_LOAD_KB*1024);
const uint32_t flash_size = (BOARD_FLASH_SIZE - FLASH_BOOTLOADER_LOAD_KB)*1024;
const uint8_t desc_len = 16;
const uint8_t *ptr = (const uint8_t *)memmem(flash, flash_size-(desc_len+sizeof(sig)), sig, sizeof(sig));
if (ptr == nullptr) {
// no application signature
printf("No app sig\n");
return false;
}
ptr += sizeof(sig);
uint32_t desc[4];
memcpy(desc, ptr, sizeof(desc));
// check length
if (desc[2] > flash_size) {
printf("Bad fw length %u\n", desc[2]);
return false;
}
uint32_t len1 = ptr - flash;
uint32_t len2 = desc[2] - (len1 + sizeof(desc));
uint32_t crc1 = crc_crc32(0, flash, len1);
uint32_t crc2 = crc_crc32(0, ptr+sizeof(desc), len2);
if (crc1 != desc[0] || crc2 != desc[1]) {
printf("Bad app CRC 0x%08x:0x%08x 0x%08x:0x%08x\n", desc[0], desc[1], crc1, crc2);
return false;
}
printf("Good firmware\n");
return true;
}
void can_start()
{
#if HAL_RAM_RESERVE_START >= 256
// check for a firmware update marker left by app
struct app_bootloader_comms *comms = (struct app_bootloader_comms *)HAL_RAM0_START;
if (comms->magic == APP_BOOTLOADER_COMMS_MAGIC) {
can_set_node_id(comms->my_node_id);
fw_update.node_id = comms->server_node_id;
memcpy(fw_update.path, comms->path, UAVCAN_PROTOCOL_FILE_PATH_PATH_MAX_LENGTH+1);
}
// clear comms region
memset(comms, 0, sizeof(struct app_bootloader_comms));
#endif
// calculate optimal CAN timings given PCLK1 and baudrate
CanardSTM32CANTimings timings {};
canardSTM32ComputeCANTimings(STM32_PCLK1, 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);
canStart(&CAND1, &cancfg);
canardInit(&canard, (uint8_t *)canard_memory_pool, sizeof(canard_memory_pool),
onTransferReceived, shouldAcceptTransfer, NULL);
if (initial_node_id != CANARD_BROADCAST_NODE_ID) {
canardSetLocalNodeID(&canard, initial_node_id);
}
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);
}
void can_update()
{
// do one loop of CAN support. If we are doing a few update then
// loop until it is finished
do {
processTx();
processRx();
can_handle_DNA();
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());
}
if (fw_update.node_id != 0) {
send_fw_read();
}
} while (fw_update.node_id != 0);
}
#endif // HAL_USE_CAN