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AP_Bootloader: added CAN support for AP_Periph

This commit is contained in:
Andrew Tridgell 2019-05-27 11:38:46 +10:00
parent 291d72601b
commit 3bc5458a82
7 changed files with 681 additions and 13 deletions
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37
Tools/AP_Bootloader/AP_Bootloader.cpp
View File

@ -30,6 +30,7 @@
#include <AP_HAL_ChibiOS/hwdef/common/watchdog.h>
#include "support.h"
#include "bl_protocol.h"
#include "can.h"
extern "C" {
int main(void);
@ -53,6 +54,7 @@ int main(void)
bool try_boot = false;
uint32_t timeout = HAL_BOOTLOADER_TIMEOUT;
#ifndef NO_FASTBOOT
enum rtc_boot_magic m = check_fast_reboot();
if (stm32_was_watchdog_reset()) {
try_boot = true;
@ -63,22 +65,55 @@ int main(void)
try_boot = true;
timeout = 0;
}
#if HAL_USE_CAN == TRUE
else if ((m & 0xFFFFFF00) == RTC_BOOT_CANBL) {
try_boot = false;
timeout = 10000;
can_set_node_id(m & 0xFF);
}
#endif
// if we fail to boot properly we want to pause in bootloader to give
// a chance to load new app code
set_fast_reboot(RTC_BOOT_OFF);
#endif
#ifdef HAL_GPIO_PIN_STAY_IN_BOOTLOADER
// optional "stay in bootloader" pin
if (palReadLine(HAL_GPIO_PIN_STAY_IN_BOOTLOADER) == 0) {
try_boot = false;
timeout = 10000;
}
#endif
if (try_boot) {
jump_to_app();
}
#if defined(BOOTLOADER_DEV_LIST)
init_uarts();
#endif
#if HAL_USE_CAN == TRUE
can_start();
#endif
flash_init();
#if defined(BOOTLOADER_DEV_LIST)
while (true) {
bootloader(timeout);
jump_to_app();
}
#else
// CAN only
while (true) {
uint32_t t0 = AP_HAL::millis();
while (AP_HAL::millis() - t0 <= timeout) {
can_update();
chThdSleep(chTimeMS2I(1));
}
jump_to_app();
}
#endif
}

7
Tools/AP_Bootloader/bl_protocol.cpp
View File

@ -47,6 +47,7 @@
#include "bl_protocol.h"
#include "support.h"
#include "can.h"
// #pragma GCC optimize("O0")
@ -498,7 +499,11 @@ bootloader(unsigned timeout)
/* try to get a byte from the host */
c = cin(0);
#if HAL_USE_CAN == TRUE
if (c < 0) {
can_update();
}
#endif
} while (c < 0);
led_on(LED_ACTIVITY);

587
Tools/AP_Bootloader/can.cpp Normal file
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@ -0,0 +1,587 @@
/*
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 <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>
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
// darn, libcanard generates the wrong signature for file read
//#undef UAVCAN_PROTOCOL_FILE_READ_SIGNATURE
//#define UAVCAN_PROTOCOL_FILE_READ_SIGNATURE 0x8DCDCA939F33F678ULL
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 < 500) {
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_LOW,
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);
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;
}
void can_start()
{
// 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

3
Tools/AP_Bootloader/can.h Normal file
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@ -0,0 +1,3 @@
void can_start();
void can_update();
void can_set_node_id(uint8_t node_id);

17
Tools/AP_Bootloader/mcu_f1.h Normal file
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@ -0,0 +1,17 @@
/*
support tables for STM32F1
*/
#if defined(STM32F1)
#define STM32_UNKNOWN 0
const mcu_des_t mcu_descriptions[] = {
{ STM32_UNKNOWN, "STM32F1xx", '?'},
};
const mcu_rev_t silicon_revs[] = {
};
#endif // STM32F1

17
Tools/AP_Bootloader/support.cpp
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@ -10,10 +10,15 @@
#include <AP_HAL_ChibiOS/hwdef/common/flash.h>
#include <AP_HAL_ChibiOS/hwdef/common/stm32_util.h>
#include "support.h"
#include "mcu_f1.h"
#include "mcu_f4.h"
#include "mcu_f7.h"
#include "mcu_h7.h"
// optional uprintf() code for debug
// #define BOOTLOADER_DEBUG SD1
#if defined(BOOTLOADER_DEV_LIST)
static BaseChannel *uarts[] = { BOOTLOADER_DEV_LIST };
#if HAL_USE_SERIAL == TRUE
static SerialConfig sercfg;
@ -25,10 +30,6 @@ static uint8_t last_uart;
#define BOOTLOADER_BAUDRATE 115200
#endif
// optional uprintf() code for debug
// #define BOOTLOADER_DEBUG SD7
// #pragma GCC optimize("O0")
int16_t cin(unsigned timeout_ms)
@ -65,6 +66,7 @@ void cout(uint8_t *data, uint32_t len)
{
chnWriteTimeout(uarts[last_uart], data, len, chTimeMS2I(100));
}
#endif // BOOTLOADER_DEV_LIST
static uint32_t flash_base_page;
static uint8_t num_pages;
@ -262,11 +264,12 @@ void uprintf(const char *fmt, ...)
#ifdef BOOTLOADER_DEBUG
va_list ap;
static bool initialised;
static SerialConfig debug_sercfg;
char umsg[200];
if (!initialised) {
initialised = true;
sercfg.speed = 57600;
sdStart(&BOOTLOADER_DEBUG, &sercfg);
debug_sercfg.speed = 57600;
sdStart(&BOOTLOADER_DEBUG, &debug_sercfg);
}
va_start(ap, fmt);
uint32_t n = vsnprintf(umsg, sizeof(umsg), fmt, ap);
@ -342,6 +345,7 @@ void *memset(void *s, int c, size_t n)
return s;
}
#if defined(BOOTLOADER_DEV_LIST)
void lock_bl_port(void)
{
locked_uart = last_uart;
@ -394,3 +398,4 @@ void port_setbaud(uint32_t baudrate)
sdStart((SerialDriver *)uarts[last_uart], &sercfg);
#endif
}
#endif // BOOTLOADER_DEV_LIST

26
Tools/AP_Bootloader/wscript
View File

@ -2,8 +2,24 @@
# encoding: utf-8
def build(bld):
if bld.env.BOOTLOADER:
bld.ap_program(
use='ap',
program_groups='bootloader'
)
if not bld.env.BOOTLOADER:
return
# build external libcanard library
bld.stlib(source='../../modules/libcanard/canard.c',
target='libcanard')
bld.ap_program(
use=['ap','libcanard'],
program_groups='bootloader',
includes=[bld.env.SRCROOT + '/modules/libcanard',
bld.env.BUILDROOT + '/modules/libcanard/dsdlc_generated']
)
bld(
# build libcanard headers
source=bld.path.ant_glob("modules/uavcan/dsdl/**/*.uavcan libraries/AP_UAVCAN/dsdl/**/*.uavcan"),
rule="python3 ../../modules/libcanard/dsdl_compiler/libcanard_dsdlc --header_only --outdir ${BUILDROOT}/modules/libcanard/dsdlc_generated ../../modules/uavcan/dsdl/uavcan",
group='dynamic_sources',
)