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AP_Networking: make can multicast an endpoint by default

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also add option to enable multicast with bridging to CAN bus in application
and disabled in bootloader
This commit is contained in:
bugobliterator 2024-12-20 14:52:46 +11:00
parent f0dbca0b6f
commit 1bff2938c5
4 changed files with 44 additions and 16 deletions
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8
libraries/AP_Networking/AP_Networking.cpp
View File

@ -90,7 +90,7 @@ const AP_Param::GroupInfo AP_Networking::var_info[] = {
// @Param: OPTIONS
// @DisplayName: Networking options
// @Description: Networking options
// @Bitmask: 0:EnablePPP Ethernet gateway, 1:Enable CAN1 multicast gateway, 2:Enable CAN2 multicast gateway
// @Bitmask: 0:EnablePPP Ethernet gateway, 1:Enable CAN1 multicast endpoint, 2:Enable CAN2 multicast endpoint, 3:Enable CAN1 multicast bridged, 4:Enable CAN2 multicast bridged
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("OPTIONS", 9, AP_Networking, param.options, 0),
@ -200,13 +200,13 @@ void AP_Networking::init()
#endif
#if AP_NETWORKING_CAN_MCAST_ENABLED && !defined(HAL_BOOTLOADER_BUILD)
if (option_is_set(OPTION::CAN1_MCAST_GATEWAY) || option_is_set(OPTION::CAN2_MCAST_GATEWAY)) {
if (option_is_set(OPTION::CAN1_MCAST_ENDPOINT) || option_is_set(OPTION::CAN1_MCAST_ENDPOINT)) {
// get mask of enabled buses
uint8_t bus_mask = 0;
if (option_is_set(OPTION::CAN1_MCAST_GATEWAY)) {
if (option_is_set(OPTION::CAN1_MCAST_ENDPOINT)) {
bus_mask |= (1U<<0);
}
if (option_is_set(OPTION::CAN2_MCAST_GATEWAY)) {
if (option_is_set(OPTION::CAN1_MCAST_ENDPOINT)) {
bus_mask |= (1U<<1);
}
mcast_server.start(bus_mask);

11
libraries/AP_Networking/AP_Networking.h
View File

@ -157,14 +157,21 @@ public:
enum class OPTION {
PPP_ETHERNET_GATEWAY=(1U<<0),
#if AP_NETWORKING_CAN_MCAST_ENABLED
CAN1_MCAST_GATEWAY=(1U<<1),
CAN2_MCAST_GATEWAY=(1U<<2),
CAN1_MCAST_ENDPOINT=(1U<<1),
CAN2_MCAST_ENDPOINT=(1U<<2),
CAN1_MCAST_BRIDGED=(1U<<3),
CAN2_MCAST_BRIDGED=(1U<<4),
#endif
};
bool option_is_set(OPTION option) const {
return (param.options.get() & int32_t(option)) != 0;
}
bool is_can_mcast_ep_bridged(uint8_t bus) const {
return (option_is_set(OPTION::CAN1_MCAST_BRIDGED) && bus == 0) ||
(option_is_set(OPTION::CAN2_MCAST_BRIDGED) && bus == 1);
}
private:
static AP_Networking *singleton;

39
libraries/AP_Networking/AP_Networking_CAN.cpp
View File

@ -108,7 +108,6 @@ void AP_Networking_CAN::mcast_server(void)
}
char address[] = MCAST_ADDRESS_BASE;
const uint32_t buffer_size = 20; // good for fw upload
uint8_t callback_id = 0;
address[strlen(address)-1] = '0' + bus;
if (!mcast_sockets[bus]->connect(address, MCAST_PORT)) {
@ -122,6 +121,14 @@ void AP_Networking_CAN::mcast_server(void)
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "CAN_MCAST[%u]: failed to register", unsigned(bus));
goto de_allocate;
}
#ifndef HAL_BOOTLOADER_BUILD
// check if bridged mode is enabled
cbus->set_rx_cb_disabled(callback_id, !AP::network().is_can_mcast_ep_bridged(bus));
#else
// never bridge in bootloader, as we can cause loops if multiple
// bootloaders with mcast are running on the same network
cbus->set_rx_cb_disabled(callback_id, true);
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
// tell the ethernet interface that we want to receive all
@ -151,7 +158,8 @@ void AP_Networking_CAN::mcast_server(void)
thread_sleep_us(delay_us);
#endif
for (uint8_t bus=0; bus<HAL_NUM_CAN_IFACES; bus++) {
if (mcast_sockets[bus] == nullptr) {
auto *cbus = get_caniface(bus);
if (mcast_sockets[bus] == nullptr || cbus == nullptr) {
continue;
}
@ -180,15 +188,28 @@ void AP_Networking_CAN::mcast_server(void)
*/
AP_HAL::CANFrame frame;
const uint16_t timeout_us = 2000;
#ifndef HAL_BOOTLOADER_BUILD
// check if bridged mode is enabled
bool bridged = AP::network().is_can_mcast_ep_bridged(bus);
cbus->set_rx_cb_disabled(callback_id, !bridged);
#else
// never bridge in bootloader, as we can cause loops if multiple
// bootloaders with mcast are running on the same network and CAN Bus
bool bridged = false;
#endif
while (frame_buffers[bus]->peek(frame)) {
auto *cbus = get_caniface(bus);
if (cbus == nullptr) {
break;
bool retcode;
if (!bridged) {
AP_HAL::CANIface::CanRxItem rx_item;
rx_item.timestamp_us = AP_HAL::micros64();
rx_item.flags = AP_HAL::CANIface::IsMAVCAN;
rx_item.frame = frame;
retcode = cbus->add_to_rx_queue(rx_item);
} else {
retcode = cbus->send(frame,
AP_HAL::micros64() + timeout_us,
AP_HAL::CANIface::IsMAVCAN);
}
auto retcode = cbus->send(frame,
AP_HAL::micros64() + timeout_us,
AP_HAL::CANIface::IsMAVCAN);
if (retcode == 0) {
break;
}

2
libraries/AP_Networking/AP_Networking_CAN.h
View File

@ -15,7 +15,7 @@ private:
uint8_t bus_mask;
AP_HAL::CANIface *get_caniface(uint8_t) const;
uint8_t callback_id;
#ifdef HAL_BOOTLOADER_BUILD
static void mcast_trampoline(void *ctx);
#endif