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ardupilot/libraries/AP_Networking/AP_Networking.cpp

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#include "AP_Networking.h"
#if AP_NETWORKING_ENABLED
#include "AP_Math/definitions.h"
#include <GCS_MAVLink/GCS.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#include <hal_mii.h>
#include <lwip/sockets.h>
#else
#include <arpa/inet.h>
#include <sys/socket.h>
#endif
extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_Networking::var_info[] = {
// @Param: ENABLED
// @DisplayName: Enable Networking
// @Description: Enable Networking
// @Values: 0:Disable,1:Enable
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO_FLAGS("ENABLED", 0, AP_Networking, _param.enabled, 0, AP_PARAM_FLAG_ENABLE),
// @Param: IPADDR0
// @DisplayName: IPv4 Address MSB
// @Description: Allows setting static IP address. Example: 192.xxx.xxx.xxx
// @Range: 0 255
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("IPADDR0", 1, AP_Networking, _param.ipaddr[0], AP_NETWORKING_DEFAULT_STATIC_IP_ADDR0),
// @Param: IPADDR1
// @DisplayName: IPv4 Address 2nd byte
// @Description: Allows setting static IP address. Example: xxx.168.xxx.xxx
// @Range: 0 255
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("IPADDR1", 2, AP_Networking, _param.ipaddr[1], AP_NETWORKING_DEFAULT_STATIC_IP_ADDR1),
// @Param: IPADDR2
// @DisplayName: IPv4 Address 3rd byte
// @Description: Allows setting static IP address. Example: xxx.xxx.13.xxx
// @Range: 0 255
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("IPADDR2", 3, AP_Networking, _param.ipaddr[2], AP_NETWORKING_DEFAULT_STATIC_IP_ADDR2),
// @Param: IPADDR3
// @DisplayName: IPv4 Address LSB
// @Description: Allows setting static IP address. Example: xxx.xxx.xxx.14
// @Range: 0 255
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("IPADDR3", 4, AP_Networking, _param.ipaddr[3], AP_NETWORKING_DEFAULT_STATIC_IP_ADDR3),
// @Param: NETMASK
// @DisplayName: IP Subnet mask
// @Description: Allows setting static subnet mask. The value is a count of consecutive bits. Examples: 24 = 255.255.255.0, 16 = 255.255.0.0
// @Range: 0 32
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("NETMASK", 5, AP_Networking, _param.netmask, AP_NETWORKING_DEFAULT_NETMASK),
// @Param: DHCP
// @DisplayName: DHCP client
// @Description: Enable/Disable DHCP client
// @Values: 0:Disable, 1:Enable
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("DHCP", 6, AP_Networking, _param.dhcp, AP_NETWORKING_DEFAULT_DHCP_ENABLE),
// @Param: GWADDR0
// @DisplayName: Gateway IP Address MSB
// @Description: Allows setting static GW address
// @Range: 0 255
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("GWADDR0", 7, AP_Networking, _param.gwaddr[0], AP_NETWORKING_DEFAULT_STATIC_GW_ADDR0),
// @Param: GWADDR1
// @DisplayName: Gateway IP Address 2nd byte
// @Description: Allows setting static GW address
// @Range: 0 255
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("GWADDR1", 8, AP_Networking, _param.gwaddr[1], AP_NETWORKING_DEFAULT_STATIC_GW_ADDR1),
// @Param: GWADDR2
// @DisplayName: Gateway IP Address 3rd byte
// @Description: Allows setting static GW address
// @Range: 0 255
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("GWADDR2", 9, AP_Networking, _param.gwaddr[2], AP_NETWORKING_DEFAULT_STATIC_GW_ADDR2),
// @Param: GWADDR3
// @DisplayName: Gateway IP Address LSB
// @Description: Allows setting static GW address
// @Range: 0 255
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("GWADDR3", 10, AP_Networking, _param.gwaddr[3], AP_NETWORKING_DEFAULT_STATIC_GW_ADDR3),
// @Param: MACADDR0
// @DisplayName: MAC Address MSbyte
// @Description: Allows setting MAC address
// @Range: 0 255
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("MACADDR0", 11, AP_Networking, _param.macaddr[0], AP_NETWORKING_DEFAULT_MAC_ADDR0),
// @Param: MACADDR1
// @DisplayName: MAC Address 2nd byte
// @Description: Allows setting MAC address
// @Range: 0 255
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("MACADDR1", 12, AP_Networking, _param.macaddr[1], AP_NETWORKING_DEFAULT_MAC_ADDR1),
// @Param: MACADDR2
// @DisplayName: MAC Address 3rd byte
// @Description: Allows setting MAC address
// @Range: 0 255
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("MACADDR2", 13, AP_Networking, _param.macaddr[2], AP_NETWORKING_DEFAULT_MAC_ADDR2),
// @Param: MACADDR3
// @DisplayName: MAC Address 4th byte
// @Description: Allows setting MAC address
// @Range: 0 255
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("MACADDR3", 14, AP_Networking, _param.macaddr[3], AP_NETWORKING_DEFAULT_MAC_ADDR3),
// @Param: MACADDR4
// @DisplayName: MAC Address 5th byte
// @Description: Allows setting MAC address
// @Range: 0 255
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("MACADDR4", 15, AP_Networking, _param.macaddr[4], AP_NETWORKING_DEFAULT_MAC_ADDR4),
// @Param: MACADDR5
// @DisplayName: MAC Address LSb
// @Description: Allows setting MAC address
// @Range: 0 255
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("MACADDR5", 16, AP_Networking, _param.macaddr[5], AP_NETWORKING_DEFAULT_MAC_ADDR5),
AP_GROUPEND
};
AP_Networking::AP_Networking(void)
{
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (_singleton != nullptr) {
AP_HAL::panic("AP_Networking must be singleton");
}
#endif
_singleton = this;
AP_Param::setup_object_defaults(this, var_info);
}
#ifdef STM32_ETH_BUFFERS_EXTERN
stm32_eth_rx_descriptor_t *__eth_rd;
stm32_eth_tx_descriptor_t *__eth_td;
uint32_t **__eth_rb;
uint32_t **__eth_tb;
#endif
static bool allocate_buffers()
{
#ifdef STM32_ETH_BUFFERS_EXTERN
#define BUFFER_SIZE ((((STM32_MAC_BUFFERS_SIZE - 1) | 3) + 1) / 4) // == 381
// check total size of buffers
const uint32_t eth_rd_size = sizeof(stm32_eth_rx_descriptor_t)*STM32_MAC_RECEIVE_BUFFERS;
const uint32_t eth_td_size = sizeof(stm32_eth_tx_descriptor_t)*STM32_MAC_TRANSMIT_BUFFERS;
const uint32_t eth_rb_size = sizeof(uint32_t)*STM32_MAC_RECEIVE_BUFFERS*BUFFER_SIZE;
const uint32_t eth_tb_size = sizeof(uint32_t)*STM32_MAC_TRANSMIT_BUFFERS*BUFFER_SIZE;
const uint32_t total_size = eth_rd_size + eth_rd_size + eth_rb_size + eth_tb_size; // == 9240
// ensure that we allocate 32-bit aligned memory, and mark it non-cacheable
uint32_t size = 2;
uint8_t rasr = 0;
// find size closest to power of 2
while (size < total_size) {
size = size << 1;
rasr++;
}
void *mem = malloc_eth_safe(size);
if (mem == nullptr) {
return false;
}
// for total_size == 9240, size should be 16384 and (rasr-1) should be 13 (MPU_RASR_SIZE_16K)
uint32_t rasr_size = MPU_RASR_SIZE(rasr-1);
// set up MPU region for buffers
mpuConfigureRegion(STM32_NOCACHE_MPU_REGION_ETH,
(uint32_t)mem,
MPU_RASR_ATTR_AP_RW_RW |
MPU_RASR_ATTR_NON_CACHEABLE |
MPU_RASR_ATTR_S |
rasr_size |
MPU_RASR_ENABLE);
mpuEnable(MPU_CTRL_PRIVDEFENA);
SCB_CleanInvalidateDCache();
// assign buffers
__eth_rd = (stm32_eth_rx_descriptor_t *)mem;
__eth_td = (stm32_eth_tx_descriptor_t *)&__eth_rd[STM32_MAC_RECEIVE_BUFFERS];
__eth_rb = (uint32_t **)((uint32_t)__eth_td + eth_td_size);
__eth_tb = (uint32_t **)((uint32_t)__eth_rb + eth_rb_size);
#endif
return true;
}
void AP_Networking::init()
{
#ifdef HAL_GPIO_ETH_ENABLE
hal.gpio->pinMode(HAL_GPIO_ETH_ENABLE, HAL_GPIO_OUTPUT);
hal.gpio->write(HAL_GPIO_ETH_ENABLE, _param.enabled ? 1 : 0);
#endif
if (!_param.enabled || _init.done) {
return;
}
// set default MAC Address lower 3 bytes to UUID if possible
uint8_t uuid[12];
uint8_t uuid_len = sizeof(uuid);
const bool udid_is_ok = hal.util->get_system_id_unformatted(uuid, uuid_len) && uuid_len >= 3;
if (udid_is_ok) {
_param.macaddr[3].set_default(uuid[uuid_len-2]);
_param.macaddr[4].set_default(uuid[uuid_len-1]);
_param.macaddr[5].set_default(uuid[uuid_len-0]);
}
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
if (!allocate_buffers()) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "NET: Failed to allocate buffers");
return;
}
if (!macInit()) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "NET: macInit failed");
return;
}
const uint8_t localMACAddress[6] = {(uint8_t)_param.macaddr[0].get(),
(uint8_t)_param.macaddr[1].get(),
(uint8_t)_param.macaddr[2].get(),
(uint8_t)_param.macaddr[3].get(),
(uint8_t)_param.macaddr[4].get(),
(uint8_t)_param.macaddr[5].get()
};
#if !AP_NETWORKING_DHCP_AVAILABLE
set_dhcp_enable(false);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "NET: DHCP Not Supported");
#endif
net_addr_mode_t addrMode;
if (get_dhcp_enabled()) {
_activeSettings.ip = 0;
_activeSettings.nm = 0;
_activeSettings.gw = 0;
addrMode = NET_ADDRESS_DHCP;
} else {
_activeSettings.ip = get_ip_param();
_activeSettings.nm = get_netmask_param();
_activeSettings.gw = get_gateway_param();
addrMode = NET_ADDRESS_STATIC;
}
struct lwipthread_opts netOptions = { (uint8_t *) localMACAddress,
_activeSettings.ip,
_activeSettings.nm,
_activeSettings.gw,
addrMode
};
lwipInit(&netOptions);
#endif
#if AP_NETWORKING_DHCP_AVAILABLE
if (get_dhcp_enabled()) {
// give DHCP a chance to get an address before we show the boot-up address
_activeSettings.announce_ms = AP_HAL::millis();
}
#endif
GCS_SEND_TEXT(MAV_SEVERITY_DEBUG,"NET: Initialized");
_init.done = true;
}
void AP_Networking::announce_address_changes()
{
const uint32_t now_ms = AP_HAL::millis();
if (now_ms - _activeSettings.announce_ms < 1000) {
// Never announce changes any faster than 1 sec
return;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
const uint32_t ip = lwipGetIp();
const uint32_t nm = lwipGetNetmask();
const uint32_t gw = lwipGetGateway();
// struct netif thisif = lwipGetNetIf();
// const uint32_t ip = thisif.ip_addr.u_addr.ip4.addr;
// const uint32_t nm = thisif.netmask.u_addr.ip4.addr;
// const uint32_t gw = thisif.gw.u_addr.ip4.addr;
#else
const uint32_t ip = 0;
const uint32_t nm = 0;
const uint32_t gw = 0;
#endif
if (_activeSettings.announce_at_boot_done &&
ip == _activeSettings.ip &&
nm == _activeSettings.nm &&
gw == _activeSettings.gw) {
// nothing changed and we've already printed it at least once. Nothing to do.
return;
}
_activeSettings.ip = ip;
_activeSettings.nm = nm;
_activeSettings.gw = gw;
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "NET: IP %s", get_ip_active_str());
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "NET: Mask %s", get_netmask_active_str());
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "NET: Gateway %s", get_gateway_active_str());
if (!_activeSettings.announce_at_boot_done && ip == 0 && nm == 0 && gw == 0 && get_dhcp_enabled()) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO,"NET: DHCP enabled, waiting for IP");
}
_activeSettings.announce_ms = now_ms;
_activeSettings.announce_at_boot_done = true;
}
void AP_Networking::update()
{
if (!is_healthy()) {
return;
}
announce_address_changes();
}
uint32_t AP_Networking::convert_netmask_bitcount_to_ip(const uint32_t netmask_bitcount)
{
if (netmask_bitcount > 32) {
return 0;
}
uint32_t netmask_ip = 0;
for (uint32_t i=0; i<netmask_bitcount; i++) {
netmask_ip |= (1UL << i);
}
return netmask_ip;
}
uint8_t AP_Networking::convert_netmask_ip_to_bitcount(const uint32_t netmask_ip)
{
uint32_t netmask_bitcount = 0;
for (uint32_t i=0; i<32; i++) {
// note, netmask LSB is IP MSB
if ((netmask_ip & (1UL<<i)) == 0) {
break;
}
netmask_bitcount++;
}
return netmask_bitcount;
}
uint32_t AP_Networking::convert_str_to_ip(char* ip_str)
{
uint32_t ip = 0;
inet_pton(AF_INET, ip_str, &ip);
return ip;
}
char* AP_Networking::convert_ip_to_str(const uint8_t ip[4])
{
static char _str_buffer[20];
if (hal.util->snprintf(_str_buffer, sizeof(_str_buffer), "%u.%u.%u.%u", (unsigned)ip[0], (unsigned)ip[1], (unsigned)ip[2], (unsigned)ip[3]) == 0) {
_str_buffer[0] = '\0';
}
return _str_buffer;
}
char* AP_Networking::convert_ip_to_str(const uint32_t ip)
{
uint8_t ip_array[4];
ip_array[3] = ((ip >> 24) & 0xff);
ip_array[2] = ((ip >> 16) & 0xff);
ip_array[1] = ((ip >> 8) & 0xff);
ip_array[0] = (ip & 0xff);
return convert_ip_to_str(ip_array);
}
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
int32_t AP_Networking::send_udp(struct udp_pcb *pcb, const ip4_addr_t &ip4_addr, const uint16_t port, const uint8_t* data, uint16_t data_len)
{
if (!AP::network().is_healthy()) {
return ERR_IF;
}
if (pcb == nullptr) {
return ERR_ARG;
}
data_len = (data == nullptr) ? 0 : data_len;
struct pbuf *p = pbuf_alloc(PBUF_TRANSPORT, data_len, PBUF_RAM);
if (p == nullptr) {
return ERR_MEM;
}
ip_addr_t dst;
ip_addr_copy_from_ip4(dst, ip4_addr);
if (data_len > 0) {
memcpy(p->payload, data, data_len);
}
const err_t err = udp_sendto(pcb, p, &dst, port);
pbuf_free(p);
return err == ERR_OK ? data_len : err;
}
#endif // #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
AP_Networking *AP_Networking::_singleton;
namespace AP
{
AP_Networking &network()
{
return *AP_Networking::get_singleton();
}
}
#endif // AP_NETWORKING_ENABLED
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