Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-21 15:23:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Periph: use methods from new canard dsdl generator

Browse Source
This commit is contained in:
bugobliterator 2021-09-30 00:04:32 +05:30 committed by Andrew Tridgell
parent e26f429557
commit 6b44bc3e4c
2 changed files with 48 additions and 140 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

175
Tools/AP_Periph/can.cpp
View File

@ -19,49 +19,14 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include "AP_Periph.h"
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wcast-align"
#include <canard.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 <uavcan/protocol/file/BeginFirmwareUpdate.h>
#include <uavcan/protocol/param/GetSet.h>
#include <uavcan/protocol/param/ExecuteOpcode.h>
#include <uavcan/equipment/ahrs/MagneticFieldStrength.h>
#include <uavcan/equipment/gnss/Fix.h>
#include <uavcan/equipment/gnss/Fix2.h>
#include <uavcan/equipment/gnss/Auxiliary.h>
#include <uavcan/equipment/air_data/StaticPressure.h>
#include <uavcan/equipment/air_data/StaticTemperature.h>
#include <uavcan/equipment/air_data/RawAirData.h>
#include <uavcan/equipment/indication/BeepCommand.h>
#include <uavcan/equipment/indication/LightsCommand.h>
#include <uavcan/equipment/range_sensor/Measurement.h>
#include <uavcan/equipment/hardpoint/Command.h>
#include <uavcan/equipment/esc/Status.h>
#include <uavcan/equipment/safety/ArmingStatus.h>
#include <ardupilot/indication/SafetyState.h>
#include <ardupilot/indication/NotifyState.h>
#include <ardupilot/indication/Button.h>
#include <ardupilot/equipment/trafficmonitor/TrafficReport.h>
#include <ardupilot/gnss/Status.h>
#include <ardupilot/gnss/MovingBaselineData.h>
#include <ardupilot/gnss/RelPosHeading.h>
#include <AP_GPS/RTCM3_Parser.h>
#include <uavcan/equipment/gnss/RTCMStream.h>
#include <uavcan/equipment/power/BatteryInfo.h>
#include <uavcan/protocol/debug/LogMessage.h>
#include <uavcan/equipment/esc/RawCommand.h>
#include <uavcan/equipment/actuator/ArrayCommand.h>
#include <uavcan/equipment/actuator/Command.h>
#pragma GCC diagnostic pop
#include <stdio.h>
#include <drivers/stm32/canard_stm32.h>
#include <AP_HAL/I2CDevice.h>
#include <AP_HAL/utility/RingBuffer.h>
#include <AP_Common/AP_FWVersion.h>
#include <uavcan_msgs.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#include "../AP_Bootloader/app_comms.h"
@ -212,7 +177,7 @@ static uint16_t get_random_range(uint16_t range)
*/
static void readUniqueID(uint8_t* out_uid)
{
uint8_t len = UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_UNIQUE_ID_MAX_LENGTH;
uint8_t len = sizeof(uavcan_protocol_dynamic_node_id_Allocation::unique_id.data);
memset(out_uid, 0, len);
hal.util->get_system_id_unformatted(out_uid, len);
}
@ -245,14 +210,12 @@ static void handle_get_node_info(CanardInstance* ins,
pkt.hardware_version.major = APJ_BOARD_ID >> 8;
pkt.hardware_version.minor = APJ_BOARD_ID & 0xFF;
char text[UAVCAN_PROTOCOL_GETNODEINFO_RESPONSE_NAME_MAX_LENGTH+1];
if (periph.g.serial_number > 0) {
hal.util->snprintf(text, sizeof(text), "%s(%u)", CAN_APP_NODE_NAME, (unsigned)periph.g.serial_number);
hal.util->snprintf((char*)pkt.name.data, sizeof(pkt.name.data), "%s(%u)", CAN_APP_NODE_NAME, (unsigned)periph.g.serial_number);
} else {
hal.util->snprintf(text, sizeof(text), "%s", CAN_APP_NODE_NAME);
hal.util->snprintf((char*)pkt.name.data, sizeof(pkt.name.data), "%s", CAN_APP_NODE_NAME);
}
pkt.name.len = strlen(text);
pkt.name.data = (uint8_t *)text;
pkt.name.len = strnlen((char*)pkt.name.data, sizeof(pkt.name.data));
uint16_t total_size = uavcan_protocol_GetNodeInfoResponse_encode(&pkt, buffer);
@ -279,28 +242,25 @@ static void handle_param_getset(CanardInstance* ins, CanardRxTransfer* transfer)
stm32_watchdog_pat();
uavcan_protocol_param_GetSetRequest req;
uint8_t arraybuf[UAVCAN_PROTOCOL_PARAM_GETSET_REQUEST_NAME_MAX_LENGTH];
uint8_t *arraybuf_ptr = arraybuf;
if (uavcan_protocol_param_GetSetRequest_decode(transfer, transfer->payload_len, &req, &arraybuf_ptr) < 0) {
if (uavcan_protocol_param_GetSetRequest_decode(transfer, &req)) {
return;
}
uavcan_protocol_param_GetSetResponse pkt {};
uint8_t name[AP_MAX_NAME_SIZE+1] {};
AP_Param *vp;
enum ap_var_type ptype;
if (req.name.len != 0 && req.name.len > AP_MAX_NAME_SIZE) {
vp = nullptr;
} else if (req.name.len != 0 && req.name.len <= AP_MAX_NAME_SIZE) {
strncpy((char *)name, (char *)req.name.data, req.name.len);
vp = AP_Param::find((char *)name, &ptype);
memcpy((char *)pkt.name.data, (char *)req.name.data, req.name.len);
vp = AP_Param::find((char *)pkt.name.data, &ptype);
} else {
AP_Param::ParamToken token {};
vp = AP_Param::find_by_index(req.index, &ptype, &token);
if (vp != nullptr) {
vp->copy_name_token(token, (char *)name, AP_MAX_NAME_SIZE+1, true);
vp->copy_name_token(token, (char *)pkt.name.data, AP_MAX_NAME_SIZE+1, true);
}
}
if (vp != nullptr && req.name.len != 0 && req.value.union_tag != UAVCAN_PROTOCOL_PARAM_VALUE_EMPTY) {
@ -355,8 +315,7 @@ static void handle_param_getset(CanardInstance* ins, CanardRxTransfer* transfer)
default:
return;
}
pkt.name.len = strlen((char *)name);
pkt.name.data = name;
pkt.name.len = strnlen((char *)pkt.name.data, sizeof(pkt.name.data));
}
uint8_t buffer[UAVCAN_PROTOCOL_PARAM_GETSET_RESPONSE_MAX_SIZE] {};
@ -380,7 +339,7 @@ static void handle_param_getset(CanardInstance* ins, CanardRxTransfer* transfer)
static void handle_param_executeopcode(CanardInstance* ins, CanardRxTransfer* transfer)
{
uavcan_protocol_param_ExecuteOpcodeRequest req;
if (uavcan_protocol_param_ExecuteOpcodeRequest_decode(transfer, transfer->payload_len, &req, nullptr) < 0) {
if (uavcan_protocol_param_ExecuteOpcodeRequest_decode(transfer, &req)) {
return;
}
if (req.opcode == UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_REQUEST_OPCODE_ERASE) {
@ -507,38 +466,31 @@ static void handle_allocation_response(CanardInstance* ins, CanardRxTransfer* tr
}
// 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++) {
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]);
}
uavcan_protocol_dynamic_node_id_Allocation msg;
uavcan_protocol_dynamic_node_id_Allocation_decode(transfer, &msg);
// Obtaining the local unique ID
uint8_t my_unique_id[UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_UNIQUE_ID_MAX_LENGTH];
uint8_t my_unique_id[sizeof(msg.unique_id.data)];
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) {
if (memcmp(msg.unique_id.data, my_unique_id, msg.unique_id.len) != 0) {
printf("Mismatching allocation response\n");
can_ins->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) {
if (msg.unique_id.len < sizeof(msg.unique_id.data)) {
// The allocator has confirmed part of unique ID, switching to the next stage and updating the timeout.
can_ins->node_id_allocation_unique_id_offset = received_unique_id_len;
can_ins->node_id_allocation_unique_id_offset = msg.unique_id.len;
can_ins->send_next_node_id_allocation_request_at_ms -= UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MIN_REQUEST_PERIOD_MS;
printf("Matching allocation response: %d\n", received_unique_id_len);
printf("Matching allocation response: %d\n", msg.unique_id.len);
} 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);
canardSetLocalNodeID(ins, allocated_node_id);
printf("IF%d Node ID allocated: %d\n", can_ins->index, allocated_node_id);
canardSetLocalNodeID(ins, msg.node_id);
printf("IF%d Node ID allocated: %d\n", can_ins->index, msg.node_id);
#if defined(HAL_PERIPH_ENABLE_GPS) && (HAL_NUM_CAN_IFACES >= 2) && GPS_MOVING_BASELINE
if (periph.g.gps_mb_only_can_port) {
@ -546,7 +498,7 @@ static void handle_allocation_response(CanardInstance* ins, CanardRxTransfer* tr
periph.gps_mb_can_port = (can_ins->index+1)%HAL_NUM_CAN_IFACES;
if (canardGetLocalNodeID(&instances[periph.gps_mb_can_port].canard) == CANARD_BROADCAST_NODE_ID) {
// copy node id from the primary iface
canardSetLocalNodeID(&instances[periph.gps_mb_can_port].canard, allocated_node_id);
canardSetLocalNodeID(&instances[periph.gps_mb_can_port].canard, msg.node_id);
#ifdef HAL_GPIO_PIN_TERMCAN1
// also terminate the line as we don't have any other device on this port
palWriteLine(can_term_lines[periph.gps_mb_can_port], 1);
@ -557,23 +509,6 @@ static void handle_allocation_response(CanardInstance* ins, CanardRxTransfer* tr
}
}
/*
fix value of a float for canard float16 format. This is only needed
for array attributes. Scalars are handled by the compiler
*/
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wunused-function"
static void fix_float16_array(float *f, uint8_t len)
{
while (len--) {
*(uint16_t *)f = canardConvertNativeFloatToFloat16(*f);
f++;
}
}
#pragma GCC diagnostic pop
#if defined(HAL_PERIPH_ENABLE_NOTIFY) || defined(HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY)
static uint32_t buzzer_start_ms;
static uint32_t buzzer_len_ms;
@ -583,7 +518,7 @@ static uint32_t buzzer_len_ms;
static void handle_beep_command(CanardInstance* ins, CanardRxTransfer* transfer)
{
uavcan_equipment_indication_BeepCommand req;
if (uavcan_equipment_indication_BeepCommand_decode(transfer, transfer->payload_len, &req, nullptr) < 0) {
if (uavcan_equipment_indication_BeepCommand_decode(transfer, &req)) {
return;
}
static bool initialised;
@ -626,7 +561,7 @@ static uint8_t safety_state;
static void handle_safety_state(CanardInstance* ins, CanardRxTransfer* transfer)
{
ardupilot_indication_SafetyState req;
if (ardupilot_indication_SafetyState_decode(transfer, transfer->payload_len, &req, nullptr) < 0) {
if (ardupilot_indication_SafetyState_decode(transfer, &req)) {
return;
}
safety_state = req.status;
@ -642,7 +577,7 @@ static void handle_safety_state(CanardInstance* ins, CanardRxTransfer* transfer)
static void handle_arming_status(CanardInstance* ins, CanardRxTransfer* transfer)
{
uavcan_equipment_safety_ArmingStatus req;
if (uavcan_equipment_safety_ArmingStatus_decode(transfer, transfer->payload_len, &req, nullptr) < 0) {
if (uavcan_equipment_safety_ArmingStatus_decode(transfer, &req)) {
return;
}
hal.util->set_soft_armed(req.status == UAVCAN_EQUIPMENT_SAFETY_ARMINGSTATUS_STATUS_FULLY_ARMED);
@ -655,9 +590,7 @@ static void handle_arming_status(CanardInstance* ins, CanardRxTransfer* transfer
static void handle_RTCMStream(CanardInstance* ins, CanardRxTransfer* transfer)
{
uavcan_equipment_gnss_RTCMStream req;
uint8_t arraybuf[UAVCAN_EQUIPMENT_GNSS_RTCMSTREAM_DATA_MAX_LENGTH];
uint8_t *arraybuf_ptr = arraybuf;
if (uavcan_equipment_gnss_RTCMStream_decode(transfer, transfer->payload_len, &req, &arraybuf_ptr) < 0) {
if (uavcan_equipment_gnss_RTCMStream_decode(transfer, &req)) {
return;
}
periph.gps.handle_gps_rtcm_fragment(0, req.data.data, req.data.len);
@ -670,9 +603,7 @@ static void handle_RTCMStream(CanardInstance* ins, CanardRxTransfer* transfer)
static void handle_MovingBaselineData(CanardInstance* ins, CanardRxTransfer* transfer)
{
ardupilot_gnss_MovingBaselineData msg;
uint8_t arraybuf[ARDUPILOT_GNSS_MOVINGBASELINEDATA_MAX_SIZE];
uint8_t *arraybuf_ptr = arraybuf;
if (ardupilot_gnss_MovingBaselineData_decode(transfer, transfer->payload_len, &msg, &arraybuf_ptr) < 0) {
if (ardupilot_gnss_MovingBaselineData_decode(transfer, &msg)) {
return;
}
periph.gps.inject_MBL_data(msg.data.data, msg.data.len);
@ -771,9 +702,7 @@ static void set_rgb_led(uint8_t red, uint8_t green, uint8_t blue)
static void handle_lightscommand(CanardInstance* ins, CanardRxTransfer* transfer)
{
uavcan_equipment_indication_LightsCommand req;
uint8_t arraybuf[UAVCAN_EQUIPMENT_INDICATION_LIGHTSCOMMAND_MAX_SIZE];
uint8_t *arraybuf_ptr = arraybuf;
if (uavcan_equipment_indication_LightsCommand_decode(transfer, transfer->payload_len, &req, &arraybuf_ptr) < 0) {
if (uavcan_equipment_indication_LightsCommand_decode(transfer, &req)) {
return;
}
for (uint8_t i=0; i<req.commands.len; i++) {
@ -803,9 +732,7 @@ static void handle_lightscommand(CanardInstance* ins, CanardRxTransfer* transfer
static void handle_esc_rawcommand(CanardInstance* ins, CanardRxTransfer* transfer)
{
uavcan_equipment_esc_RawCommand cmd;
uint8_t arraybuf[UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_MAX_SIZE];
uint8_t *arraybuf_ptr = arraybuf;
if (uavcan_equipment_esc_RawCommand_decode(transfer, transfer->payload_len, &cmd, &arraybuf_ptr) < 0) {
if (uavcan_equipment_esc_RawCommand_decode(transfer, &cmd)) {
return;
}
periph.rcout_esc(cmd.cmd.data, cmd.cmd.len);
@ -1444,11 +1371,11 @@ static bool can_do_dna(instance_t &ins)
allocation_request[0] |= 1; // First part of unique ID
}
uint8_t my_unique_id[UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_UNIQUE_ID_MAX_LENGTH];
uint8_t my_unique_id[sizeof(uavcan_protocol_dynamic_node_id_Allocation::unique_id.data)];
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 - ins.node_id_allocation_unique_id_offset);
uint8_t uid_size = (uint8_t)(sizeof(uavcan_protocol_dynamic_node_id_Allocation::unique_id.data) - ins.node_id_allocation_unique_id_offset);
if (uid_size > MaxLenOfUniqueIDInRequest) {
uid_size = MaxLenOfUniqueIDInRequest;
@ -1711,7 +1638,6 @@ void AP_Periph_FW::can_mag_update(void)
for (uint8_t i=0; i<3; i++) {
pkt.magnetic_field_ga[i] = field[i] * 0.001;
}
fix_float16_array(pkt.magnetic_field_ga, 3);
uint8_t buffer[UAVCAN_EQUIPMENT_AHRS_MAGNETICFIELDSTRENGTH_MAX_SIZE] {};
uint16_t total_size = uavcan_equipment_ahrs_MagneticFieldStrength_encode(&pkt, buffer);
@ -1770,10 +1696,8 @@ void AP_Periph_FW::can_battery_update(void)
#if !defined(HAL_PERIPH_BATTERY_SKIP_NAME)
// example model_name: "org.ardupilot.ap_periph SN 123"
char text[UAVCAN_EQUIPMENT_POWER_BATTERYINFO_MODEL_NAME_MAX_LENGTH+1] {};
hal.util->snprintf(text, sizeof(text), "%s %ld", AP_PERIPH_BATTERY_MODEL_NAME, (long int)serial_number);
pkt.model_name.len = strlen(text);
pkt.model_name.data = (uint8_t *)text;
hal.util->snprintf((char*)pkt.model_name.data, sizeof(pkt.model_name.data), "%s %ld", AP_PERIPH_BATTERY_MODEL_NAME, (long int)serial_number);
pkt.model_name.len = strnlen((char*)pkt.model_name.data, sizeof(pkt.model_name.data));
#endif //defined(HAL_PERIPH_BATTERY_SKIP_NAME)
uint8_t buffer[UAVCAN_EQUIPMENT_POWER_BATTERYINFO_MAX_SIZE] {};
@ -1828,7 +1752,6 @@ void AP_Periph_FW::can_gps_update(void)
// the canard dsdl compiler doesn't understand float16
pkt.ned_velocity[i] = vel[i];
}
fix_float16_array(pkt.ned_velocity, 3);
pkt.sats_used = gps.num_sats();
switch (gps.status()) {
case AP_GPS::GPS_Status::NO_GPS:
@ -1846,31 +1769,25 @@ void AP_Periph_FW::can_gps_update(void)
break;
}
float pos_cov[9] {};
pkt.position_covariance.data = &pos_cov[0];
pkt.position_covariance.len = 9;
float vacc;
if (gps.vertical_accuracy(vacc)) {
pos_cov[8] = sq(vacc);
pkt.position_covariance.data[8] = sq(vacc);
}
float hacc;
if (gps.horizontal_accuracy(hacc)) {
pos_cov[0] = pos_cov[4] = sq(hacc);
pkt.position_covariance.data[0] = pkt.position_covariance.data[4] = sq(hacc);
}
fix_float16_array(pos_cov, 9);
float vel_cov[9] {};
pkt.velocity_covariance.data = &pos_cov[0];
pkt.velocity_covariance.len = 9;
float sacc;
if (gps.speed_accuracy(sacc)) {
float vc3 = sq(sacc);
vel_cov[0] = vel_cov[4] = vel_cov[8] = vc3;
pkt.velocity_covariance.data[0] = pkt.velocity_covariance.data[4] = pkt.velocity_covariance.data[8] = vc3;
}
fix_float16_array(vel_cov, 9);
uint8_t buffer[UAVCAN_EQUIPMENT_GNSS_FIX_MAX_SIZE] {};
uint16_t total_size = uavcan_equipment_gnss_Fix_encode(&pkt, buffer);
@ -1939,26 +1856,23 @@ void AP_Periph_FW::can_gps_update(void)
break;
}
float cov[6] {};
pkt.covariance.data = &cov[0];
pkt.covariance.len = 6;
float hacc;
if (gps.horizontal_accuracy(hacc)) {
cov[0] = cov[1] = sq(hacc);
pkt.covariance.data[0] = pkt.covariance.data[1] = sq(hacc);
}
float vacc;
if (gps.vertical_accuracy(vacc)) {
cov[2] = sq(vacc);
pkt.covariance.data[2] = sq(vacc);
}
float sacc;
if (gps.speed_accuracy(sacc)) {
float vc3 = sq(sacc);
cov[3] = cov[4] = cov[5] = vc3;
pkt.covariance.data[3] = pkt.covariance.data[4] = pkt.covariance.data[5] = vc3;
}
fix_float16_array(cov, 6);
uint8_t buffer[UAVCAN_EQUIPMENT_GNSS_FIX2_MAX_SIZE] {};
uint16_t total_size = uavcan_equipment_gnss_Fix2_encode(&pkt, buffer);
@ -2032,9 +1946,9 @@ void AP_Periph_FW::send_moving_baseline_msg()
// send the packet from Moving Base to be used RelPosHeading calc by GPS module
ardupilot_gnss_MovingBaselineData mbldata {};
// get the data from the moving base
static_assert(ARDUPILOT_GNSS_MOVINGBASELINEDATA_DATA_MAX_LENGTH == RTCM3_MAX_PACKET_LEN, "Size of Moving Base data is wrong");
static_assert(sizeof(ardupilot_gnss_MovingBaselineData::data.data) == RTCM3_MAX_PACKET_LEN, "Size of Moving Base data is wrong");
mbldata.data.len = len;
mbldata.data.data = (uint8_t*)data;
memcpy(mbldata.data.data, data, len);
uint8_t buffer[ARDUPILOT_GNSS_MOVINGBASELINEDATA_MAX_SIZE] {};
const uint16_t total_size = ardupilot_gnss_MovingBaselineData_encode(&mbldata, buffer);
@ -2303,7 +2217,6 @@ void AP_Periph_FW::can_send_ADSB(struct __mavlink_adsb_vehicle_t &msg)
pkt.velocity[0] = cosf(pkt.heading) * msg.hor_velocity * 1e-2;
pkt.velocity[1] = sinf(pkt.heading) * msg.hor_velocity * 1e-2;
pkt.velocity[2] = -msg.ver_velocity * 1e-2;
fix_float16_array(pkt.velocity, 3);
pkt.squawk = msg.squawk;
memcpy(pkt.callsign, msg.callsign, MIN(sizeof(msg.callsign),sizeof(pkt.callsign)));
@ -2350,13 +2263,11 @@ void can_printf(const char *fmt, ...)
{
uavcan_protocol_debug_LogMessage pkt {};
uint8_t buffer[UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_MAX_SIZE] {};
char tbuf[100];
va_list ap;
va_start(ap, fmt);
uint32_t n = vsnprintf(tbuf, sizeof(tbuf), fmt, ap);
uint32_t n = vsnprintf((char*)pkt.text.data, sizeof(pkt.text.data), fmt, ap);
va_end(ap);
pkt.text.len = MIN(n, sizeof(tbuf));
pkt.text.data = (uint8_t *)&tbuf[0];
pkt.text.len = MIN(n, sizeof(pkt.text.data));
uint32_t len = uavcan_protocol_debug_LogMessage_encode(&pkt, buffer);

13
Tools/AP_Periph/wscript
View File

@ -57,7 +57,10 @@ def build(bld):
)
# build external libcanard library
bld.stlib(source='../../modules/libcanard/canard.c',
bld.stlib(source=['../../modules/libcanard/canard.c'] +
bld.bldnode.ant_glob('modules/libcanard/dsdlc_generated/src/**.c'),
includes=[bld.env.SRCROOT + '/modules/libcanard',
bld.env.BUILDROOT + '/modules/libcanard/dsdlc_generated/include'],
target='libcanard')
bld.ap_program(
@ -65,11 +68,5 @@ def build(bld):
use=['AP_Periph_libs', 'libcanard'],
program_groups=['bin','AP_Periph'],
includes=[bld.env.SRCROOT + '/modules/libcanard',
bld.env.BUILDROOT + '/modules/libcanard/dsdlc_generated']
)
bld(
# build libcanard headers
rule="python3 ${SRCROOT}/modules/libcanard/dsdl_compiler/libcanard_dsdlc --header_only --outdir ${BUILDROOT}/modules/libcanard/dsdlc_generated ${SRCROOT}/modules/uavcan/dsdl/uavcan ${SRCROOT}/libraries/AP_UAVCAN/dsdl/ardupilot ${SRCROOT}/libraries/AP_UAVCAN/dsdl/com",
group='dynamic_sources',
bld.env.BUILDROOT + '/modules/libcanard/dsdlc_generated/include']
)