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AP_DroneCAN: correct and validate allowed NODE range 

Node IDs >= 128 don't exist, and IDs 126 and 127 are "reserved for
network maintenance tools" according to the spec.
This commit is contained in:
Thomas Watson 2024-07-13 14:19:27 -05:00 committed by Andrew Tridgell
parent 485a9387b1
commit a9317b1a07
1 changed files with 16 additions and 7 deletions
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23
libraries/AP_DroneCAN/AP_DroneCAN.cpp
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@ -84,6 +84,10 @@ extern const AP_HAL::HAL& hal;
#define AP_DRONECAN_VOLZ_FEEDBACK_ENABLED 0
#endif
#ifndef AP_DRONECAN_DEFAULT_NODE
#define AP_DRONECAN_DEFAULT_NODE 10
#endif
#define AP_DRONECAN_GETSET_TIMEOUT_MS 100 // timeout waiting for response from node after 0.1 sec
#define debug_dronecan(level_debug, fmt, args...) do { AP::can().log_text(level_debug, "DroneCAN", fmt, ##args); } while (0)
@ -96,11 +100,11 @@ extern const AP_HAL::HAL& hal;
// table of user settable CAN bus parameters
const AP_Param::GroupInfo AP_DroneCAN::var_info[] = {
// @Param: NODE
// @DisplayName: DroneCAN node that is used for this network
// @Description: DroneCAN node should be set implicitly
// @Range: 1 250
// @DisplayName: Own node ID
// @Description: DroneCAN node ID used by the driver itself on this network
// @Range: 1 125
// @User: Advanced
AP_GROUPINFO("NODE", 1, AP_DroneCAN, _dronecan_node, 10),
AP_GROUPINFO("NODE", 1, AP_DroneCAN, _dronecan_node, AP_DRONECAN_DEFAULT_NODE),
// @Param: SRV_BM
// @DisplayName: Output channels to be transmitted as servo over DroneCAN
@ -326,6 +330,11 @@ void AP_DroneCAN::init(uint8_t driver_index, bool enable_filters)
debug_dronecan(AP_CANManager::LOG_ERROR, "DroneCAN: init called more than once\n\r");
return;
}
uint8_t node = _dronecan_node;
if (node < 1 || node > 125) { // reset to default if invalid
_dronecan_node.set(AP_DRONECAN_DEFAULT_NODE);
node = AP_DRONECAN_DEFAULT_NODE;
}
node_info_rsp.name.len = hal.util->snprintf((char*)node_info_rsp.name.data, sizeof(node_info_rsp.name.data), "org.ardupilot:%u", driver_index);
@ -348,16 +357,16 @@ void AP_DroneCAN::init(uint8_t driver_index, bool enable_filters)
debug_dronecan(AP_CANManager::LOG_ERROR, "DroneCAN: Failed to allocate memory pool\n\r");
return;
}
canard_iface.init(mem_pool, (_pool_size/sizeof(uint32_t))*sizeof(uint32_t), _dronecan_node);
canard_iface.init(mem_pool, (_pool_size/sizeof(uint32_t))*sizeof(uint32_t), node);
if (!hal.util->get_system_id_unformatted(unique_id, uid_len)) {
return;
}
unique_id[uid_len - 1] += _dronecan_node;
unique_id[uid_len - 1] += node;
memcpy(node_info_rsp.hardware_version.unique_id, unique_id, uid_len);
//Start Servers
if (!_dna_server.init(unique_id, uid_len, _dronecan_node)) {
if (!_dna_server.init(unique_id, uid_len, node)) {
debug_dronecan(AP_CANManager::LOG_ERROR, "DroneCAN: Failed to start DNA Server\n\r");
return;
}