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https://github.com/ArduPilot/ardupilot
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AP_Networking: added PPP support
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e2dac53fca
commit
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libraries/AP_Networking
@ -15,6 +15,7 @@ extern const AP_HAL::HAL& hal;
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#if AP_NETWORKING_BACKEND_CHIBIOS
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#include "AP_Networking_ChibiOS.h"
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#include "AP_Networking_SLIP.h"
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#include "AP_Networking_PPP.h"
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#include <hal_mii.h>
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#include <lwip/sockets.h>
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#else
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@ -27,6 +28,10 @@ extern const AP_HAL::HAL& hal;
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#include "AP_Networking_SLIP.h"
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#endif
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#if AP_NETWORKING_BACKEND_PPP
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#include "AP_Networking_PPP.h"
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#endif
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#if AP_NETWORKING_BACKEND_SITL
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#include "AP_Networking_SITL.h"
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#endif
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@ -129,8 +134,14 @@ void AP_Networking::init()
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}
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#endif
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#if AP_NETWORKING_BACKEND_PPP
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if (AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_PPP, 0)) {
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backend = new AP_Networking_PPP(*this);
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}
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#endif
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#if AP_NETWORKING_BACKEND_SLIP
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if (AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_SLIP, 0)) {
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if (backend == nullptr && AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_SLIP, 0)) {
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backend = new AP_Networking_SLIP(*this);
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}
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#endif
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@ -22,7 +22,10 @@
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// ---------------------------
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#ifndef AP_NETWORKING_BACKEND_CHIBIOS
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#define AP_NETWORKING_BACKEND_CHIBIOS (AP_NETWORKING_BACKEND_DEFAULT_ENABLED && (CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS))
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#define AP_NETWORKING_BACKEND_SLIP (AP_NETWORKING_BACKEND_DEFAULT_ENABLED && (CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS))
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#endif
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#ifndef AP_NETWORKING_BACKEND_PPP
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#define AP_NETWORKING_BACKEND_PPP (AP_NETWORKING_BACKEND_DEFAULT_ENABLED && (CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS))
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#endif
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#ifndef AP_NETWORKING_BACKEND_SLIP
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181
libraries/AP_Networking/AP_Networking_PPP.cpp
Normal file
181
libraries/AP_Networking/AP_Networking_PPP.cpp
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@ -0,0 +1,181 @@
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#include "AP_Networking_Config.h"
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#if AP_NETWORKING_BACKEND_PPP
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#include "AP_Networking_PPP.h"
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#include <GCS_MAVLink/GCS.h>
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#include <lwipthread.h>
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#include <lwip/udp.h>
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#include <lwip/ip_addr.h>
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#include <netif/ppp/ppp_opts.h>
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#include <netif/ppp/pppapi.h>
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#include <netif/ppp/pppos.h>
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#include <lwip/tcpip.h>
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extern const AP_HAL::HAL& hal;
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/*
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uint32_t timestamp in smallest available units
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*/
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uint32_t sys_jiffies(void)
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{
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return AP_HAL::micros();
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}
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/*
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output some data to the uart
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*/
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uint32_t AP_Networking_PPP::ppp_output_cb(ppp_pcb *pcb, const void *data, uint32_t len, void *ctx)
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{
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auto &driver = *(AP_Networking_PPP *)ctx;
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LWIP_UNUSED_ARG(pcb);
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uint32_t remaining = len;
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uint8_t *ptr = const_cast<uint8_t*>((const uint8_t *)data);
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while (remaining > 0) {
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auto n = driver.uart->write(ptr, remaining);
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if (n > 0) {
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remaining -= n;
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ptr += n;
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} else {
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hal.scheduler->delay_microseconds(100);
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}
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}
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return len;
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}
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/*
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callback on link status change
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*/
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void AP_Networking_PPP::ppp_status_callback(struct ppp_pcb_s *pcb, int code, void *ctx)
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{
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auto &driver = *(AP_Networking_PPP *)ctx;
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struct netif *pppif = ppp_netif(pcb);
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const char *msg = nullptr;
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switch (code) {
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case PPPERR_NONE: {
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// got addresses
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driver.activeSettings.ip = ntohl(netif_ip4_addr(pppif)->addr);
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driver.activeSettings.gw = ntohl(netif_ip4_gw(pppif)->addr);
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driver.activeSettings.nm = ntohl(netif_ip4_netmask(pppif)->addr);
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driver.activeSettings.last_change_ms = AP_HAL::millis();
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break;
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}
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case PPPERR_PARAM: { /* Invalid parameter. */
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msg = "PPPERR_PARAM";
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break;
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}
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case PPPERR_OPEN: { /* Unable to open PPP session. */
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msg = "PPPERR_OPEN";
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break;
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}
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case PPPERR_DEVICE: { /* Invalid I/O device for PPP. */
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msg = "PPPERR_DEVICE";
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break;
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}
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case PPPERR_ALLOC: { /* Unable to allocate resources. */
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msg = "PPPERR_ALLOC";
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break;
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}
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case PPPERR_USER: { /* User interrupt. */
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msg = "PPPERR_USER";
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break;
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}
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case PPPERR_CONNECT: { /* Connection lost. */
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msg = "PPPERR_CONNECT";
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break;
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}
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case PPPERR_AUTHFAIL: { /* Failed authentication challenge. */
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msg = "PPPERR_AUTHFAIL";
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break;
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}
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case PPPERR_PROTOCOL: { /* Failed to meet protocol. */
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msg = "PPPERR_PROTOCOL";
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break;
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}
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case PPPERR_PEERDEAD: { /* Connection timeout */
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msg = "PPPERR_PEERDEAD";
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break;
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}
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case PPPERR_IDLETIMEOUT: { /* Idle Timeout */
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msg = "PPPERR_IDLETIMEOUT";
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break;
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}
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case PPPERR_CONNECTTIME: { /* Max connect time reached */
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msg = "PPPERR_CONNECTTIME";
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break;
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}
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case PPPERR_LOOPBACK: { /* Loopback detected */
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msg = "PPPERR_LOOPBACK";
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break;
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}
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}
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if (msg != nullptr) {
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "PPP: %s", msg);
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}
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}
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/*
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initialise PPP network backend using LWIP
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*/
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bool AP_Networking_PPP::init()
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{
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uart = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_PPP, 0);
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if (uart == nullptr) {
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return false;
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}
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uart->set_unbuffered_writes(true);
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pppif = new netif;
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if (pppif == nullptr) {
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return false;
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}
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// initialise TCP/IP thread
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tcpip_init(NULL, NULL);
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hal.scheduler->delay(100);
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// create ppp connection
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ppp = pppos_create(pppif, ppp_output_cb, ppp_status_callback, this);
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if (ppp == nullptr) {
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "PPP: failed to create link");
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return false;
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}
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// connect and set as default route
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ppp_connect(ppp, 0);
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netif_set_default(pppif);
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GCS_SEND_TEXT(MAV_SEVERITY_INFO, "PPP: started");
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hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Networking_PPP::ppp_loop, void),
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"ppp",
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8192, AP_HAL::Scheduler::PRIORITY_UART, 0);
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return true;
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}
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/*
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main loop for PPP
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*/
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void AP_Networking_PPP::ppp_loop(void)
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{
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// ensure this thread owns the uart
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uart->begin(0);
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while (true) {
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uint8_t buf[1024];
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auto n = uart->read(buf, sizeof(buf));
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if (n > 0) {
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pppos_input(ppp, buf, n);
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} else {
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hal.scheduler->delay_microseconds(100);
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}
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}
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}
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#endif // AP_NETWORKING_BACKEND_PPP
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29
libraries/AP_Networking/AP_Networking_PPP.h
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29
libraries/AP_Networking/AP_Networking_PPP.h
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@ -0,0 +1,29 @@
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#pragma once
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#include "AP_Networking_Config.h"
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#ifdef AP_NETWORKING_BACKEND_PPP
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#include "AP_Networking_Backend.h"
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class AP_Networking_PPP : public AP_Networking_Backend
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{
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public:
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using AP_Networking_Backend::AP_Networking_Backend;
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/* Do not allow copies */
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CLASS_NO_COPY(AP_Networking_PPP);
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bool init() override;
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private:
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void ppp_loop(void);
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AP_HAL::UARTDriver *uart;
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struct netif *pppif;
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struct ppp_pcb_s *ppp;
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static void ppp_status_callback(struct ppp_pcb_s *pcb, int code, void *ctx);
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static uint32_t ppp_output_cb(struct ppp_pcb_s *pcb, const void *data, uint32_t len, void *ctx);
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};
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#endif // AP_NETWORKING_BACKEND_PPP
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