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AP_Networking: added PPP support

This commit is contained in:
Andrew Tridgell 2023-12-10 07:10:16 +11:00
parent e2dac53fca
commit 896b95654c
4 changed files with 226 additions and 2 deletions

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@ -15,6 +15,7 @@ extern const AP_HAL::HAL& hal;
#if AP_NETWORKING_BACKEND_CHIBIOS
#include "AP_Networking_ChibiOS.h"
#include "AP_Networking_SLIP.h"
#include "AP_Networking_PPP.h"
#include <hal_mii.h>
#include <lwip/sockets.h>
#else
@ -27,6 +28,10 @@ extern const AP_HAL::HAL& hal;
#include "AP_Networking_SLIP.h"
#endif
#if AP_NETWORKING_BACKEND_PPP
#include "AP_Networking_PPP.h"
#endif
#if AP_NETWORKING_BACKEND_SITL
#include "AP_Networking_SITL.h"
#endif
@ -129,8 +134,14 @@ void AP_Networking::init()
}
#endif
#if AP_NETWORKING_BACKEND_PPP
if (AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_PPP, 0)) {
backend = new AP_Networking_PPP(*this);
}
#endif
#if AP_NETWORKING_BACKEND_SLIP
if (AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_SLIP, 0)) {
if (backend == nullptr && AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_SLIP, 0)) {
backend = new AP_Networking_SLIP(*this);
}
#endif

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@ -22,7 +22,10 @@
// ---------------------------
#ifndef AP_NETWORKING_BACKEND_CHIBIOS
#define AP_NETWORKING_BACKEND_CHIBIOS (AP_NETWORKING_BACKEND_DEFAULT_ENABLED && (CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS))
#define AP_NETWORKING_BACKEND_SLIP (AP_NETWORKING_BACKEND_DEFAULT_ENABLED && (CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS))
#endif
#ifndef AP_NETWORKING_BACKEND_PPP
#define AP_NETWORKING_BACKEND_PPP (AP_NETWORKING_BACKEND_DEFAULT_ENABLED && (CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS))
#endif
#ifndef AP_NETWORKING_BACKEND_SLIP

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@ -0,0 +1,181 @@
#include "AP_Networking_Config.h"
#if AP_NETWORKING_BACKEND_PPP
#include "AP_Networking_PPP.h"
#include <GCS_MAVLink/GCS.h>
#include <lwipthread.h>
#include <lwip/udp.h>
#include <lwip/ip_addr.h>
#include <netif/ppp/ppp_opts.h>
#include <netif/ppp/pppapi.h>
#include <netif/ppp/pppos.h>
#include <lwip/tcpip.h>
extern const AP_HAL::HAL& hal;
/*
uint32_t timestamp in smallest available units
*/
uint32_t sys_jiffies(void)
{
return AP_HAL::micros();
}
/*
output some data to the uart
*/
uint32_t AP_Networking_PPP::ppp_output_cb(ppp_pcb *pcb, const void *data, uint32_t len, void *ctx)
{
auto &driver = *(AP_Networking_PPP *)ctx;
LWIP_UNUSED_ARG(pcb);
uint32_t remaining = len;
uint8_t *ptr = const_cast<uint8_t*>((const uint8_t *)data);
while (remaining > 0) {
auto n = driver.uart->write(ptr, remaining);
if (n > 0) {
remaining -= n;
ptr += n;
} else {
hal.scheduler->delay_microseconds(100);
}
}
return len;
}
/*
callback on link status change
*/
void AP_Networking_PPP::ppp_status_callback(struct ppp_pcb_s *pcb, int code, void *ctx)
{
auto &driver = *(AP_Networking_PPP *)ctx;
struct netif *pppif = ppp_netif(pcb);
const char *msg = nullptr;
switch (code) {
case PPPERR_NONE: {
// got addresses
driver.activeSettings.ip = ntohl(netif_ip4_addr(pppif)->addr);
driver.activeSettings.gw = ntohl(netif_ip4_gw(pppif)->addr);
driver.activeSettings.nm = ntohl(netif_ip4_netmask(pppif)->addr);
driver.activeSettings.last_change_ms = AP_HAL::millis();
break;
}
case PPPERR_PARAM: { /* Invalid parameter. */
msg = "PPPERR_PARAM";
break;
}
case PPPERR_OPEN: { /* Unable to open PPP session. */
msg = "PPPERR_OPEN";
break;
}
case PPPERR_DEVICE: { /* Invalid I/O device for PPP. */
msg = "PPPERR_DEVICE";
break;
}
case PPPERR_ALLOC: { /* Unable to allocate resources. */
msg = "PPPERR_ALLOC";
break;
}
case PPPERR_USER: { /* User interrupt. */
msg = "PPPERR_USER";
break;
}
case PPPERR_CONNECT: { /* Connection lost. */
msg = "PPPERR_CONNECT";
break;
}
case PPPERR_AUTHFAIL: { /* Failed authentication challenge. */
msg = "PPPERR_AUTHFAIL";
break;
}
case PPPERR_PROTOCOL: { /* Failed to meet protocol. */
msg = "PPPERR_PROTOCOL";
break;
}
case PPPERR_PEERDEAD: { /* Connection timeout */
msg = "PPPERR_PEERDEAD";
break;
}
case PPPERR_IDLETIMEOUT: { /* Idle Timeout */
msg = "PPPERR_IDLETIMEOUT";
break;
}
case PPPERR_CONNECTTIME: { /* Max connect time reached */
msg = "PPPERR_CONNECTTIME";
break;
}
case PPPERR_LOOPBACK: { /* Loopback detected */
msg = "PPPERR_LOOPBACK";
break;
}
}
if (msg != nullptr) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "PPP: %s", msg);
}
}
/*
initialise PPP network backend using LWIP
*/
bool AP_Networking_PPP::init()
{
uart = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_PPP, 0);
if (uart == nullptr) {
return false;
}
uart->set_unbuffered_writes(true);
pppif = new netif;
if (pppif == nullptr) {
return false;
}
// initialise TCP/IP thread
tcpip_init(NULL, NULL);
hal.scheduler->delay(100);
// create ppp connection
ppp = pppos_create(pppif, ppp_output_cb, ppp_status_callback, this);
if (ppp == nullptr) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "PPP: failed to create link");
return false;
}
// connect and set as default route
ppp_connect(ppp, 0);
netif_set_default(pppif);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "PPP: started");
hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Networking_PPP::ppp_loop, void),
"ppp",
8192, AP_HAL::Scheduler::PRIORITY_UART, 0);
return true;
}
/*
main loop for PPP
*/
void AP_Networking_PPP::ppp_loop(void)
{
// ensure this thread owns the uart
uart->begin(0);
while (true) {
uint8_t buf[1024];
auto n = uart->read(buf, sizeof(buf));
if (n > 0) {
pppos_input(ppp, buf, n);
} else {
hal.scheduler->delay_microseconds(100);
}
}
}
#endif // AP_NETWORKING_BACKEND_PPP

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@ -0,0 +1,29 @@
#pragma once
#include "AP_Networking_Config.h"
#ifdef AP_NETWORKING_BACKEND_PPP
#include "AP_Networking_Backend.h"
class AP_Networking_PPP : public AP_Networking_Backend
{
public:
using AP_Networking_Backend::AP_Networking_Backend;
/* Do not allow copies */
CLASS_NO_COPY(AP_Networking_PPP);
bool init() override;
private:
void ppp_loop(void);
AP_HAL::UARTDriver *uart;
struct netif *pppif;
struct ppp_pcb_s *ppp;
static void ppp_status_callback(struct ppp_pcb_s *pcb, int code, void *ctx);
static uint32_t ppp_output_cb(struct ppp_pcb_s *pcb, const void *data, uint32_t len, void *ctx);
};
#endif // AP_NETWORKING_BACKEND_PPP