mirror of https://github.com/ArduPilot/ardupilot
AP_Bootloader: show IP as CAN debug msg in bootloader
this also saves a few bytes of flash for normal periph bootloader
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b48a01dbc8
commit
1bee4630cc
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@ -75,6 +75,10 @@ static void processTx(void);
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#define FW_UPDATE_PIPELINE_LEN 4
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#endif
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#if CH_CFG_USE_MUTEXES == TRUE
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static HAL_Semaphore can_mutex;
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#endif
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static struct {
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uint32_t rtt_ms;
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uint32_t ofs;
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@ -625,6 +629,29 @@ static void processRx(void)
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}
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#endif //#if HAL_USE_CAN
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/*
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wrapper around broadcast
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*/
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static void canard_broadcast(uint64_t data_type_signature,
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uint16_t data_type_id,
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uint8_t &transfer_id,
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uint8_t priority,
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const void* payload,
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uint16_t payload_len)
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{
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#if CH_CFG_USE_MUTEXES == TRUE
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WITH_SEMAPHORE(can_mutex);
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#endif
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canardBroadcast(&canard,
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data_type_signature,
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data_type_id,
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&transfer_id,
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priority,
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payload,
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payload_len);
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}
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/*
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handle waiting for a node ID
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*/
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@ -663,13 +690,12 @@ static void can_handle_DNA(void)
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memmove(&allocation_request[1], &my_unique_id[node_id_allocation_unique_id_offset], uid_size);
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// Broadcasting the request
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canardBroadcast(&canard,
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UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_SIGNATURE,
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UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_ID,
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&node_id_allocation_transfer_id,
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CANARD_TRANSFER_PRIORITY_LOW,
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&allocation_request[0],
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(uint16_t) (uid_size + 1));
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canard_broadcast(UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_SIGNATURE,
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UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_ID,
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node_id_allocation_transfer_id,
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CANARD_TRANSFER_PRIORITY_LOW,
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&allocation_request[0],
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(uint16_t) (uid_size + 1));
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// Preparing for timeout; if response is received, this value will be updated from the callback.
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node_id_allocation_unique_id_offset = 0;
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@ -684,13 +710,12 @@ static void send_node_status(void)
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static uint8_t transfer_id; // Note that the transfer ID variable MUST BE STATIC (or heap-allocated)!
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canardBroadcast(&canard,
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UAVCAN_PROTOCOL_NODESTATUS_SIGNATURE,
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UAVCAN_PROTOCOL_NODESTATUS_ID,
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&transfer_id,
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CANARD_TRANSFER_PRIORITY_LOW,
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buffer,
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len);
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canard_broadcast(UAVCAN_PROTOCOL_NODESTATUS_SIGNATURE,
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UAVCAN_PROTOCOL_NODESTATUS_ID,
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transfer_id,
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CANARD_TRANSFER_PRIORITY_LOW,
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buffer,
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len);
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}
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@ -832,4 +857,30 @@ void can_update()
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} while (fw_update.node_id != 0);
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}
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// printf to CAN LogMessage for debugging
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void can_printf(const char *fmt, ...)
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{
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// only on H7 for now, where we have plenty of flash
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#if defined(STM32H7)
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uavcan_protocol_debug_LogMessage pkt {};
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uint8_t buffer[UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_MAX_SIZE] {};
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va_list ap;
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va_start(ap, fmt);
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uint32_t n = vsnprintf((char*)pkt.text.data, sizeof(pkt.text.data), fmt, ap);
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va_end(ap);
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pkt.text.len = MIN(n, sizeof(pkt.text.data));
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uint32_t len = uavcan_protocol_debug_LogMessage_encode(&pkt, buffer, true);
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static uint8_t logmsg_transfer_id;
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canard_broadcast(UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_SIGNATURE,
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UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_ID,
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logmsg_transfer_id,
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CANARD_TRANSFER_PRIORITY_LOW,
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buffer,
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len);
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#endif // defined(STM32H7)
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}
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#endif // HAL_USE_CAN
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@ -2,3 +2,4 @@ void can_start();
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void can_update();
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void can_set_node_id(uint8_t node_id);
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bool can_check_update(void);
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void can_printf(const char *fmt, ...);
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@ -25,6 +25,7 @@
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#include "bl_protocol.h"
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#include <AP_CheckFirmware/AP_CheckFirmware.h>
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#include "app_comms.h"
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#include "can.h"
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#ifndef AP_NETWORKING_BOOTLOADER_DEFAULT_MAC_ADDR
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#define AP_NETWORKING_BOOTLOADER_DEFAULT_MAC_ADDR "C2:AF:51:03:CF:46"
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@ -57,10 +58,12 @@
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void BL_Network::link_up_cb(void *p)
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{
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auto *driver = (BL_Network *)p;
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#if AP_BOOTLOADER_NETWORK_USE_DHCP
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auto *driver = (AP_Networking_ChibiOS *)p;
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dhcp_start(driver->thisif);
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#endif
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char ipstr[IP4_STR_LEN];
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can_printf("IP %s", SocketAPM::inet_addr_to_str(ntohl(driver->thisif->ip_addr.addr), ipstr, sizeof(ipstr)));
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}
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void BL_Network::link_down_cb(void *p)
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