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AP_Periph: support CAN app comms area

This commit is contained in:
Andrew Tridgell 2019-10-21 14:47:06 +11:00
parent 6ad762f727
commit 1c61ab165c
1 changed files with 48 additions and 2 deletions
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50
Tools/AP_Periph/can.cpp
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@ -45,6 +45,7 @@
#include <AP_HAL_ChibiOS/hwdef/common/watchdog.h> #include <AP_HAL_ChibiOS/hwdef/common/watchdog.h>
#include <drivers/stm32/canard_stm32.h> #include <drivers/stm32/canard_stm32.h>
#include <AP_HAL/I2CDevice.h> #include <AP_HAL/I2CDevice.h>
#include "../AP_Bootloader/app_comms.h"
#include "i2c.h" #include "i2c.h"
#include <utility> #include <utility>
@ -293,11 +294,56 @@ static void handle_param_executeopcode(CanardInstance* ins, CanardRxTransfer* tr
total_size); total_size);
} }
static void processTx(void);
static void processRx(void);
static void handle_begin_firmware_update(CanardInstance* ins, CanardRxTransfer* transfer) static void handle_begin_firmware_update(CanardInstance* ins, CanardRxTransfer* transfer)
{ {
#if HAL_RAM_RESERVE_START >= 256
// setup information on firmware request at start of ram
struct app_bootloader_comms *comms = (struct app_bootloader_comms *)HAL_RAM0_START;
memset(comms, 0, sizeof(struct app_bootloader_comms));
comms->magic = APP_BOOTLOADER_COMMS_MAGIC;
// manual decoding due to TAO bug in libcanard generated code
if (transfer->payload_len < 1 || transfer->payload_len > sizeof(comms->path)+1) {
return;
}
uint32_t offset = 0;
canardDecodeScalar(transfer, 0, 8, false, (void*)&comms->server_node_id);
offset += 8;
for (uint8_t i=0; i<transfer->payload_len-1; i++) {
canardDecodeScalar(transfer, offset, 8, false, (void*)&comms->path[i]);
offset += 8;
}
if (comms->server_node_id == 0) {
comms->server_node_id = transfer->source_node_id;
}
comms->my_node_id = canardGetLocalNodeID(ins);
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);
uint8_t count = 50;
while (count--) {
processTx();
hal.scheduler->delay(1);
}
#endif
// instant reboot, with backup register used to give bootloader // instant reboot, with backup register used to give bootloader
// the node_id we rely on the caller re-sending the firmware // the node_id
// update request to the bootloader
set_fast_reboot((rtc_boot_magic)(RTC_BOOT_CANBL | canardGetLocalNodeID(ins))); set_fast_reboot((rtc_boot_magic)(RTC_BOOT_CANBL | canardGetLocalNodeID(ins)));
NVIC_SystemReset(); NVIC_SystemReset();
} }