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ardupilot/Tools/AP_Periph/can.cpp

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
AP_Periph can support
*/
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include "AP_Periph.h"
#include "hal.h"
#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 <ardupilot/indication/SafetyState.h>
#include <ardupilot/indication/Button.h>
#include <ardupilot/equipment/trafficmonitor/TrafficReport.h>
#include <uavcan/equipment/gnss/RTCMStream.h>
#include <uavcan/protocol/debug/LogMessage.h>
#include <stdio.h>
#include <AP_HAL_ChibiOS/hwdef/common/stm32_util.h>
#include <AP_HAL_ChibiOS/hwdef/common/watchdog.h>
#include <drivers/stm32/canard_stm32.h>
#include <AP_HAL/I2CDevice.h>
#include "../AP_Bootloader/app_comms.h"
#include <AP_HAL/utility/RingBuffer.h>
#include <AP_Common/AP_FWVersion.h>
#include "i2c.h"
#include <utility>
extern const AP_HAL::HAL &hal;
extern AP_Periph_FW periph;
#ifndef HAL_CAN_POOL_SIZE
#define HAL_CAN_POOL_SIZE 4000
#endif
static CanardInstance canard;
static uint32_t canard_memory_pool[HAL_CAN_POOL_SIZE/sizeof(uint32_t)];
#ifndef HAL_CAN_DEFAULT_NODE_ID
#define HAL_CAN_DEFAULT_NODE_ID CANARD_BROADCAST_NODE_ID
#endif
static uint8_t PreferredNodeID = HAL_CAN_DEFAULT_NODE_ID;
static uint8_t transfer_id;
#ifndef CAN_APP_NODE_NAME
#define CAN_APP_NODE_NAME "org.ardupilot.ap_periph"
#endif
#ifndef CAN_PROBE_CONTINUOUS
#define CAN_PROBE_CONTINUOUS 0
#endif
/*
* Variables used for dynamic node ID allocation.
* RTFM at http://uavcan.org/Specification/6._Application_level_functions/#dynamic-node-id-allocation
*/
static uint32_t send_next_node_id_allocation_request_at_ms; ///< When the next node ID allocation request should be sent
static uint8_t node_id_allocation_unique_id_offset; ///< Depends on the stage of the next request
/*
* Node status variables
*/
static uavcan_protocol_NodeStatus node_status;
/**
* Returns a pseudo random integer in a given range
*/
static uint16_t get_random_range(uint16_t range)
{
return get_random16() % range;
}
/*
get cpu unique ID
*/
static void readUniqueID(uint8_t* out_uid)
{
uint8_t len = UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_UNIQUE_ID_MAX_LENGTH;
memset(out_uid, 0, len);
hal.util->get_system_id_unformatted(out_uid, len);
}
/*
handle a GET_NODE_INFO request
*/
static void handle_get_node_info(CanardInstance* ins,
CanardRxTransfer* transfer)
{
uint8_t buffer[UAVCAN_PROTOCOL_GETNODEINFO_RESPONSE_MAX_SIZE] {};
uavcan_protocol_GetNodeInfoResponse pkt {};
node_status.uptime_sec = AP_HAL::millis() / 1000U;
pkt.status = node_status;
pkt.software_version.major = AP::fwversion().major;
pkt.software_version.minor = AP::fwversion().minor;
pkt.software_version.optional_field_flags = UAVCAN_PROTOCOL_SOFTWAREVERSION_OPTIONAL_FIELD_FLAG_VCS_COMMIT | UAVCAN_PROTOCOL_SOFTWAREVERSION_OPTIONAL_FIELD_FLAG_IMAGE_CRC;
pkt.software_version.vcs_commit = app_descriptor.git_hash;
uint32_t *crc = (uint32_t *)&pkt.software_version.image_crc;
crc[0] = app_descriptor.image_crc1;
crc[1] = app_descriptor.image_crc2;
readUniqueID(pkt.hardware_version.unique_id);
// use hw major/minor for APJ_BOARD_ID so we know what fw is
// compatible with this hardware
pkt.hardware_version.major = APJ_BOARD_ID >> 8;
pkt.hardware_version.minor = APJ_BOARD_ID & 0xFF;
char name[strlen(CAN_APP_NODE_NAME)+1];
strcpy(name, CAN_APP_NODE_NAME);
pkt.name.len = strlen(CAN_APP_NODE_NAME);
pkt.name.data = (uint8_t *)name;
uint16_t total_size = uavcan_protocol_GetNodeInfoResponse_encode(&pkt, buffer);
const int16_t resp_res = canardRequestOrRespond(ins,
transfer->source_node_id,
UAVCAN_PROTOCOL_GETNODEINFO_SIGNATURE,
UAVCAN_PROTOCOL_GETNODEINFO_ID,
&transfer->transfer_id,
transfer->priority,
CanardResponse,
&buffer[0],
total_size);
if (resp_res <= 0) {
printf("Could not respond to GetNodeInfo: %d\n", resp_res);
}
}
/*
handle parameter GetSet request
*/
static void handle_param_getset(CanardInstance* ins, CanardRxTransfer* transfer)
{
// param fetch all can take a long time, so pat watchdog
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) {
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);
} 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);
}
}
if (vp != nullptr && req.name.len != 0 && req.value.union_tag != UAVCAN_PROTOCOL_PARAM_VALUE_EMPTY) {
// param set
switch (ptype) {
case AP_PARAM_INT8:
if (req.value.union_tag != UAVCAN_PROTOCOL_PARAM_VALUE_INTEGER_VALUE) {
return;
}
((AP_Int8 *)vp)->set_and_save_ifchanged(req.value.integer_value);
break;
case AP_PARAM_INT16:
if (req.value.union_tag != UAVCAN_PROTOCOL_PARAM_VALUE_INTEGER_VALUE) {
return;
}
((AP_Int16 *)vp)->set_and_save_ifchanged(req.value.integer_value);
break;
case AP_PARAM_INT32:
if (req.value.union_tag != UAVCAN_PROTOCOL_PARAM_VALUE_INTEGER_VALUE) {
return;
}
((AP_Int32 *)vp)->set_and_save_ifchanged(req.value.integer_value);
break;
case AP_PARAM_FLOAT:
if (req.value.union_tag != UAVCAN_PROTOCOL_PARAM_VALUE_REAL_VALUE) {
return;
}
((AP_Float *)vp)->set_and_save_ifchanged(req.value.real_value);
break;
default:
return;
}
}
if (vp != nullptr) {
switch (ptype) {
case AP_PARAM_INT8:
pkt.value.union_tag = UAVCAN_PROTOCOL_PARAM_VALUE_INTEGER_VALUE;
pkt.value.integer_value = ((AP_Int8 *)vp)->get();
break;
case AP_PARAM_INT16:
pkt.value.union_tag = UAVCAN_PROTOCOL_PARAM_VALUE_INTEGER_VALUE;
pkt.value.integer_value = ((AP_Int16 *)vp)->get();
break;
case AP_PARAM_INT32:
pkt.value.union_tag = UAVCAN_PROTOCOL_PARAM_VALUE_INTEGER_VALUE;
pkt.value.integer_value = ((AP_Int32 *)vp)->get();
break;
case AP_PARAM_FLOAT:
pkt.value.union_tag = UAVCAN_PROTOCOL_PARAM_VALUE_REAL_VALUE;
pkt.value.real_value = ((AP_Float *)vp)->get();
break;
default:
return;
}
pkt.name.len = strlen((char *)name);
pkt.name.data = name;
}
uint8_t buffer[UAVCAN_PROTOCOL_PARAM_GETSET_RESPONSE_MAX_SIZE];
uint16_t total_size = uavcan_protocol_param_GetSetResponse_encode(&pkt, buffer);
canardRequestOrRespond(ins,
transfer->source_node_id,
UAVCAN_PROTOCOL_PARAM_GETSET_SIGNATURE,
UAVCAN_PROTOCOL_PARAM_GETSET_ID,
&transfer->transfer_id,
transfer->priority,
CanardResponse,
&buffer[0],
total_size);
}
/*
handle parameter executeopcode request
*/
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) {
return;
}
if (req.opcode == UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_REQUEST_OPCODE_ERASE) {
StorageManager::erase();
AP_Param::erase_all();
AP_Param::load_all();
AP_Param::setup_sketch_defaults();
#ifdef HAL_PERIPH_ENABLE_GPS
AP_Param::setup_object_defaults(&periph.gps, periph.gps.var_info);
#endif
#ifdef HAL_PERIPH_ENABLE_MAG
AP_Param::setup_object_defaults(&periph.compass, periph.compass.var_info);
#endif
#ifdef HAL_PERIPH_ENABLE_BARO
AP_Param::setup_object_defaults(&periph.baro, periph.baro.var_info);
#endif
#ifdef HAL_PERIPH_ENABLE_AIRSPEED
AP_Param::setup_object_defaults(&periph.airspeed, periph.airspeed.var_info);
#endif
#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
AP_Param::setup_object_defaults(&periph.rangefinder, periph.rangefinder.var_info);
#endif
}
uavcan_protocol_param_ExecuteOpcodeResponse pkt {};
pkt.ok = true;
uint8_t buffer[UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_RESPONSE_MAX_SIZE];
uint16_t total_size = uavcan_protocol_param_ExecuteOpcodeResponse_encode(&pkt, buffer);
canardRequestOrRespond(ins,
transfer->source_node_id,
UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_SIGNATURE,
UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_ID,
&transfer->transfer_id,
transfer->priority,
CanardResponse,
&buffer[0],
total_size);
}
static void processTx(void);
static void processRx(void);
static void handle_begin_firmware_update(CanardInstance* ins, CanardRxTransfer* transfer)
{
#if HAL_RAM_RESERVE_START >= 256
// setup information on firmware request at start of ram
struct app_bootloader_comms *comms = (struct app_bootloader_comms *)HAL_RAM0_START;
memset(comms, 0, sizeof(struct app_bootloader_comms));
comms->magic = APP_BOOTLOADER_COMMS_MAGIC;
// manual decoding due to TAO bug in libcanard generated code
if (transfer->payload_len < 1 || transfer->payload_len > sizeof(comms->path)+1) {
return;
}
uint32_t offset = 0;
canardDecodeScalar(transfer, 0, 8, false, (void*)&comms->server_node_id);
offset += 8;
for (uint8_t i=0; i<transfer->payload_len-1; i++) {
canardDecodeScalar(transfer, offset, 8, false, (void*)&comms->path[i]);
offset += 8;
}
if (comms->server_node_id == 0) {
comms->server_node_id = transfer->source_node_id;
}
comms->my_node_id = canardGetLocalNodeID(ins);
uint8_t buffer[UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_RESPONSE_MAX_SIZE];
uavcan_protocol_file_BeginFirmwareUpdateResponse reply {};
reply.error = UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_RESPONSE_ERROR_OK;
uint32_t total_size = uavcan_protocol_file_BeginFirmwareUpdateResponse_encode(&reply, buffer);
canardRequestOrRespond(ins,
transfer->source_node_id,
UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_SIGNATURE,
UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_ID,
&transfer->transfer_id,
transfer->priority,
CanardResponse,
&buffer[0],
total_size);
uint8_t count = 50;
while (count--) {
processTx();
hal.scheduler->delay(1);
}
#endif
// instant reboot, with backup register used to give bootloader
// the node_id
set_fast_reboot((rtc_boot_magic)(RTC_BOOT_CANBL | canardGetLocalNodeID(ins)));
NVIC_SystemReset();
}
static void handle_allocation_response(CanardInstance* ins, CanardRxTransfer* transfer)
{
// Rule C - updating the randomized time interval
send_next_node_id_allocation_request_at_ms =
AP_HAL::millis() + UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MIN_REQUEST_PERIOD_MS +
get_random_range(UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MAX_FOLLOWUP_DELAY_MS);
if (transfer->source_node_id == CANARD_BROADCAST_NODE_ID)
{
printf("Allocation request from another allocatee\n");
node_id_allocation_unique_id_offset = 0;
return;
}
// 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++) {
assert(received_unique_id_len < UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_UNIQUE_ID_MAX_LENGTH);
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]);
}
// Obtaining the local unique ID
uint8_t my_unique_id[UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_UNIQUE_ID_MAX_LENGTH];
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) {
printf("Mismatching allocation response\n");
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) {
// The allocator has confirmed part of unique ID, switching to the next stage and updating the timeout.
node_id_allocation_unique_id_offset = received_unique_id_len;
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);
} 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);
assert(allocated_node_id <= 127);
canardSetLocalNodeID(ins, allocated_node_id);
printf("Node ID allocated: %d\n", allocated_node_id);
}
}
/*
fix value of a float for canard float16 format
*/
static void fix_float16(float &f)
{
*(uint16_t *)&f = canardConvertNativeFloatToFloat16(f);
}
#ifdef HAL_PERIPH_ENABLE_BUZZER
static uint32_t buzzer_start_ms;
static uint32_t buzzer_len_ms;
/*
handle BeepCommand
*/
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) {
return;
}
static bool initialised;
if (!initialised) {
initialised = true;
hal.rcout->init();
hal.util->toneAlarm_init();
}
fix_float16(req.frequency);
fix_float16(req.duration);
buzzer_start_ms = AP_HAL::millis();
buzzer_len_ms = req.duration*1000;
float volume = constrain_float(periph.g.buzz_volume/100.0, 0, 1);
hal.util->toneAlarm_set_buzzer_tone(req.frequency, volume, uint32_t(req.duration*1000));
}
/*
update buzzer
*/
static void can_buzzer_update(void)
{
if (buzzer_start_ms != 0) {
uint32_t now = AP_HAL::millis();
if (now - buzzer_start_ms > buzzer_len_ms) {
hal.util->toneAlarm_set_buzzer_tone(0, 0, 0);
buzzer_start_ms = 0;
}
}
}
#endif // HAL_PERIPH_ENABLE_BUZZER
#ifdef HAL_GPIO_PIN_SAFE_LED
static uint8_t safety_state;
/*
handle SafetyState
*/
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) {
return;
}
safety_state = req.status;
}
#endif // HAL_GPIO_PIN_SAFE_LED
#ifdef HAL_PERIPH_ENABLE_GPS
/*
handle gnss::RTCMStream
*/
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) {
return;
}
periph.gps.handle_gps_rtcm_fragment(0, req.data.data, req.data.len);
}
#endif // HAL_PERIPH_ENABLE_GPS
#ifdef AP_PERIPH_HAVE_LED
static void set_rgb_led(uint8_t red, uint8_t green, uint8_t blue)
{
#ifdef HAL_PERIPH_NEOPIXEL_COUNT
hal.rcout->set_serial_led_rgb_data(HAL_PERIPH_NEOPIXEL_CHAN, -1, red, green, blue);
hal.rcout->serial_led_send(HAL_PERIPH_NEOPIXEL_CHAN);
#endif // HAL_PERIPH_NEOPIXEL_COUNT
#ifdef HAL_PERIPH_ENABLE_NCP5623_LED
{
const uint8_t i2c_address = 0x38;
static AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev;
if (!dev) {
dev = std::move(hal.i2c_mgr->get_device(0, i2c_address));
}
WITH_SEMAPHORE(dev->get_semaphore());
dev->set_retries(0);
uint8_t v = 0x3f; // enable LED
dev->transfer(&v, 1, nullptr, 0);
v = 0x40 | red >> 3; // red
dev->transfer(&v, 1, nullptr, 0);
v = 0x60 | green >> 3; // green
dev->transfer(&v, 1, nullptr, 0);
v = 0x80 | blue >> 3; // blue
dev->transfer(&v, 1, nullptr, 0);
}
#endif // HAL_PERIPH_ENABLE_NCP5623_LED
}
/*
handle lightscommand
*/
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) {
return;
}
for (uint8_t i=0; i<req.commands.len; i++) {
uavcan_equipment_indication_SingleLightCommand &cmd = req.commands.data[i];
// to get the right color proportions we scale the green so that is uses the
// same number of bits as red and blue
uint8_t red = cmd.color.red<<3;
uint8_t green = (cmd.color.green>>1)<<3;
uint8_t blue = cmd.color.blue<<3;
if (periph.g.led_brightness != 100 && periph.g.led_brightness >= 0) {
float scale = periph.g.led_brightness * 0.01;
red = constrain_int16(red * scale, 0, 255);
green = constrain_int16(green * scale, 0, 255);
blue = constrain_int16(blue * scale, 0, 255);
}
set_rgb_led(red, green, blue);
}
}
#endif // AP_PERIPH_HAVE_LED
#ifdef HAL_GPIO_PIN_SAFE_LED
/*
update safety LED
*/
static void can_safety_LED_update(void)
{
static uint32_t last_update_ms;
switch (safety_state) {
case ARDUPILOT_INDICATION_SAFETYSTATE_STATUS_SAFETY_OFF:
palWriteLine(HAL_GPIO_PIN_SAFE_LED, SAFE_LED_ON);
break;
case ARDUPILOT_INDICATION_SAFETYSTATE_STATUS_SAFETY_ON: {
uint32_t now = AP_HAL::millis();
if (now - last_update_ms > 100) {
last_update_ms = now;
static uint8_t led_counter;
const uint16_t led_pattern = 0x5500;
led_counter = (led_counter+1) % 16;
palWriteLine(HAL_GPIO_PIN_SAFE_LED, (led_pattern & (1U << led_counter))?!SAFE_LED_ON:SAFE_LED_ON);
}
break;
}
default:
palWriteLine(HAL_GPIO_PIN_SAFE_LED, !SAFE_LED_ON);
break;
}
}
#endif // HAL_GPIO_PIN_SAFE_LED
#ifdef HAL_GPIO_PIN_SAFE_BUTTON
#ifndef HAL_SAFE_BUTTON_ON
#define HAL_SAFE_BUTTON_ON 1
#endif
/*
update safety button
*/
static void can_safety_button_update(void)
{
static uint32_t last_update_ms;
static uint8_t counter;
uint32_t now = AP_HAL::millis();
// send at 10Hz when pressed
if (palReadLine(HAL_GPIO_PIN_SAFE_BUTTON) != HAL_SAFE_BUTTON_ON) {
counter = 0;
return;
}
if (now - last_update_ms < 100) {
return;
}
if (counter < 255) {
counter++;
}
last_update_ms = now;
ardupilot_indication_Button pkt {};
pkt.button = ARDUPILOT_INDICATION_BUTTON_BUTTON_SAFETY;
pkt.press_time = counter;
uint8_t buffer[ARDUPILOT_INDICATION_BUTTON_MAX_SIZE];
uint16_t total_size = ardupilot_indication_Button_encode(&pkt, buffer);
canardBroadcast(&canard,
ARDUPILOT_INDICATION_BUTTON_SIGNATURE,
ARDUPILOT_INDICATION_BUTTON_ID,
&transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
&buffer[0],
total_size);
}
#endif // HAL_GPIO_PIN_SAFE_BUTTON
/**
* This callback is invoked by the library when a new message or request or response is received.
*/
static void onTransferReceived(CanardInstance* ins,
CanardRxTransfer* transfer)
{
#ifdef HAL_GPIO_PIN_LED_CAN1
palToggleLine(HAL_GPIO_PIN_LED_CAN1);
#endif
/*
* Dynamic node ID allocation protocol.
* Taking this branch only if we don't have a node ID, ignoring otherwise.
*/
if (canardGetLocalNodeID(ins) == CANARD_BROADCAST_NODE_ID) {
if (transfer->transfer_type == CanardTransferTypeBroadcast &&
transfer->data_type_id == UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_ID) {
handle_allocation_response(ins, transfer);
}
return;
}
switch (transfer->data_type_id) {
case UAVCAN_PROTOCOL_GETNODEINFO_ID:
handle_get_node_info(ins, transfer);
break;
case UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_ID:
handle_begin_firmware_update(ins, transfer);
break;
case UAVCAN_PROTOCOL_RESTARTNODE_ID:
printf("RestartNode\n");
hal.scheduler->delay(10);
NVIC_SystemReset();
break;
case UAVCAN_PROTOCOL_PARAM_GETSET_ID:
handle_param_getset(ins, transfer);
break;
case UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_ID:
handle_param_executeopcode(ins, transfer);
break;
#ifdef HAL_PERIPH_ENABLE_BUZZER
case UAVCAN_EQUIPMENT_INDICATION_BEEPCOMMAND_ID:
handle_beep_command(ins, transfer);
break;
#endif
#ifdef HAL_GPIO_PIN_SAFE_LED
case ARDUPILOT_INDICATION_SAFETYSTATE_ID:
handle_safety_state(ins, transfer);
break;
#endif
#ifdef HAL_PERIPH_ENABLE_GPS
case UAVCAN_EQUIPMENT_GNSS_RTCMSTREAM_ID:
handle_RTCMStream(ins, transfer);
break;
#endif
#ifdef AP_PERIPH_HAVE_LED
case UAVCAN_EQUIPMENT_INDICATION_LIGHTSCOMMAND_ID:
handle_lightscommand(ins, transfer);
break;
#endif
}
}
/**
* This callback is invoked by the library when it detects beginning of a new transfer on the bus that can be received
* by the local node.
* If the callback returns true, the library will receive the transfer.
* If the callback returns false, the library will ignore the transfer.
* All transfers that are addressed to other nodes are always ignored.
*/
static bool shouldAcceptTransfer(const CanardInstance* ins,
uint64_t* out_data_type_signature,
uint16_t data_type_id,
CanardTransferType transfer_type,
uint8_t source_node_id)
{
(void)source_node_id;
if (canardGetLocalNodeID(ins) == CANARD_BROADCAST_NODE_ID)
{
/*
* If we're in the process of allocation of dynamic node ID, accept only relevant transfers.
*/
if ((transfer_type == CanardTransferTypeBroadcast) &&
(data_type_id == UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_ID))
{
*out_data_type_signature = UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_SIGNATURE;
return true;
}
return false;
}
switch (data_type_id) {
case UAVCAN_PROTOCOL_GETNODEINFO_ID:
*out_data_type_signature = UAVCAN_PROTOCOL_GETNODEINFO_SIGNATURE;
return true;
case UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_ID:
*out_data_type_signature = UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_SIGNATURE;
return true;
case UAVCAN_PROTOCOL_RESTARTNODE_ID:
*out_data_type_signature = UAVCAN_PROTOCOL_RESTARTNODE_SIGNATURE;
return true;
case UAVCAN_PROTOCOL_PARAM_GETSET_ID:
*out_data_type_signature = UAVCAN_PROTOCOL_PARAM_GETSET_SIGNATURE;
return true;
case UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_ID:
*out_data_type_signature = UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_SIGNATURE;
return true;
#ifdef HAL_PERIPH_ENABLE_BUZZER
case UAVCAN_EQUIPMENT_INDICATION_BEEPCOMMAND_ID:
*out_data_type_signature = UAVCAN_EQUIPMENT_INDICATION_BEEPCOMMAND_SIGNATURE;
return true;
#endif
#ifdef HAL_GPIO_PIN_SAFE_LED
case ARDUPILOT_INDICATION_SAFETYSTATE_ID:
*out_data_type_signature = ARDUPILOT_INDICATION_SAFETYSTATE_SIGNATURE;
return true;
#endif
#ifdef AP_PERIPH_HAVE_LED
case UAVCAN_EQUIPMENT_INDICATION_LIGHTSCOMMAND_ID:
*out_data_type_signature = UAVCAN_EQUIPMENT_INDICATION_LIGHTSCOMMAND_SIGNATURE;
return true;
#endif
#ifdef HAL_PERIPH_ENABLE_GPS
case UAVCAN_EQUIPMENT_GNSS_RTCMSTREAM_ID:
*out_data_type_signature = UAVCAN_EQUIPMENT_GNSS_RTCMSTREAM_SIGNATURE;
return true;
#endif
default:
break;
}
return false;
}
static void processTx(void)
{
static uint8_t fail_count;
for (const CanardCANFrame* txf = NULL; (txf = canardPeekTxQueue(&canard)) != NULL;) {
CANTxFrame txmsg {};
txmsg.DLC = txf->data_len;
memcpy(txmsg.data8, txf->data, 8);
txmsg.EID = txf->id & CANARD_CAN_EXT_ID_MASK;
txmsg.IDE = 1;
txmsg.RTR = 0;
if (canTransmit(&CAND1, CAN_ANY_MAILBOX, &txmsg, TIME_IMMEDIATE) == MSG_OK) {
canardPopTxQueue(&canard);
fail_count = 0;
} else {
// just exit and try again later. If we fail 8 times in a row
// then start discarding to prevent the pool filling up
if (fail_count < 8) {
fail_count++;
} else {
canardPopTxQueue(&canard);
}
return;
}
}
}
static ObjectBuffer<CANRxFrame> rxbuffer{32};
static void can_rxfull_cb(CANDriver *canp, uint32_t flags)
{
CANRxFrame rxmsg;
chSysLockFromISR();
while (canTryReceiveI(canp, CAN_ANY_MAILBOX, &rxmsg) == false) {
rxbuffer.push_force(rxmsg);
}
chSysUnlockFromISR();
}
static void processRx(void)
{
CANRxFrame rxmsg;
while (true) {
bool have_msg;
chSysLock();
have_msg = rxbuffer.pop(rxmsg);
chSysUnlock();
if (!have_msg) {
break;
}
CanardCANFrame rx_frame {};
//palToggleLine(HAL_GPIO_PIN_LED);
const uint64_t timestamp = AP_HAL::micros64();
memcpy(rx_frame.data, rxmsg.data8, 8);
rx_frame.data_len = rxmsg.DLC;
if(rxmsg.IDE) {
rx_frame.id = CANARD_CAN_FRAME_EFF | rxmsg.EID;
} else {
rx_frame.id = rxmsg.SID;
}
canardHandleRxFrame(&canard, &rx_frame, timestamp);
}
}
static uint16_t pool_peak_percent(void)
{
const CanardPoolAllocatorStatistics stats = canardGetPoolAllocatorStatistics(&canard);
const uint16_t peak_percent = (uint16_t)(100U * stats.peak_usage_blocks / stats.capacity_blocks);
return peak_percent;
}
/**
* This function is called at 1 Hz rate from the main loop.
*/
static void process1HzTasks(uint64_t timestamp_usec)
{
/*
* Purging transfers that are no longer transmitted. This will occasionally free up some memory.
*/
canardCleanupStaleTransfers(&canard, timestamp_usec);
/*
* Printing the memory usage statistics.
*/
{
/*
* The recommended way to establish the minimal size of the memory pool is to stress-test the application and
* record the worst case memory usage.
*/
if (pool_peak_percent() > 70) {
printf("WARNING: ENLARGE MEMORY POOL\n");
}
}
/*
* Transmitting the node status message periodically.
*/
{
uint8_t buffer[UAVCAN_PROTOCOL_NODESTATUS_MAX_SIZE];
node_status.uptime_sec = AP_HAL::millis() / 1000U;
node_status.vendor_specific_status_code = hal.util->available_memory();
uint32_t len = uavcan_protocol_NodeStatus_encode(&node_status, buffer);
const int16_t bc_res = canardBroadcast(&canard,
UAVCAN_PROTOCOL_NODESTATUS_SIGNATURE,
UAVCAN_PROTOCOL_NODESTATUS_ID,
&transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
buffer,
len);
if (bc_res <= 0) {
printf("broadcast fail %d\n", bc_res);
} else {
//printf("broadcast node status OK\n");
}
}
#if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
if (periph.g.flash_bootloader.get()) {
periph.g.flash_bootloader.set_and_save_ifchanged(0);
hal.scheduler->delay(1000);
AP_HAL::Util::FlashBootloader res = hal.util->flash_bootloader();
switch (res) {
case AP_HAL::Util::FlashBootloader::OK:
can_printf("Flash bootloader OK\n");
break;
case AP_HAL::Util::FlashBootloader::NO_CHANGE:
can_printf("Bootloader unchanged\n");
break;
default:
can_printf("Flash bootloader FAILED\n");
break;
}
}
#endif
node_status.mode = UAVCAN_PROTOCOL_NODESTATUS_MODE_OPERATIONAL;
#if 0
// test code for watchdog reset
if (AP_HAL::millis() > 15000) {
while (true) ;
}
#endif
if (AP_HAL::millis() > 30000) {
// use RTC to mark that we have been running fine for
// 30s. This is used along with watchdog resets to ensure the
// user has a chance to load a fixed firmware
set_fast_reboot(RTC_BOOT_FWOK);
}
}
/*
wait for dynamic allocation of node ID
*/
static void can_wait_node_id(void)
{
uint8_t node_id_allocation_transfer_id = 0;
const uint32_t led_pattern = 0xAAAA;
uint8_t led_idx = 0;
uint32_t last_led_change = AP_HAL::millis();
const uint32_t led_change_period = 50;
while (canardGetLocalNodeID(&canard) == CANARD_BROADCAST_NODE_ID)
{
printf("Waiting for dynamic node ID allocation... (pool %u)\n", pool_peak_percent());
stm32_watchdog_pat();
uint32_t now = AP_HAL::millis();
send_next_node_id_allocation_request_at_ms =
now + UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MIN_REQUEST_PERIOD_MS +
get_random_range(UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_MAX_FOLLOWUP_DELAY_MS);
while (((now=AP_HAL::millis()) < send_next_node_id_allocation_request_at_ms) &&
(canardGetLocalNodeID(&canard) == CANARD_BROADCAST_NODE_ID))
{
processTx();
processRx();
canardCleanupStaleTransfers(&canard, AP_HAL::micros64());
stm32_watchdog_pat();
if (now - last_led_change > led_change_period) {
// blink LED in recognisable pattern while waiting for DNA
palWriteLine(HAL_GPIO_PIN_LED, (led_pattern & (1U<<led_idx))?1:0);
led_idx = (led_idx+1) % 32;
last_led_change = now;
}
}
if (canardGetLocalNodeID(&canard) != CANARD_BROADCAST_NODE_ID)
{
break;
}
// Structure of the request is documented in the DSDL definition
// See http://uavcan.org/Specification/6._Application_level_functions/#dynamic-node-id-allocation
uint8_t allocation_request[CANARD_CAN_FRAME_MAX_DATA_LEN - 1];
allocation_request[0] = (uint8_t)(PreferredNodeID << 1U);
if (node_id_allocation_unique_id_offset == 0)
{
allocation_request[0] |= 1; // First part of unique ID
}
uint8_t my_unique_id[UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_UNIQUE_ID_MAX_LENGTH];
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 - node_id_allocation_unique_id_offset);
if (uid_size > MaxLenOfUniqueIDInRequest)
{
uid_size = MaxLenOfUniqueIDInRequest;
}
// Paranoia time
assert(node_id_allocation_unique_id_offset < UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_UNIQUE_ID_MAX_LENGTH);
assert(uid_size <= MaxLenOfUniqueIDInRequest);
assert(uid_size > 0);
assert((uid_size + node_id_allocation_unique_id_offset) <= UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_UNIQUE_ID_MAX_LENGTH);
memmove(&allocation_request[1], &my_unique_id[node_id_allocation_unique_id_offset], uid_size);
// Broadcasting the request
const int16_t bcast_res = canardBroadcast(&canard,
UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_SIGNATURE,
UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_ID,
&node_id_allocation_transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
&allocation_request[0],
(uint16_t) (uid_size + 1));
if (bcast_res < 0)
{
printf("Could not broadcast ID allocation req; error %d\n", bcast_res);
}
// Preparing for timeout; if response is received, this value will be updated from the callback.
node_id_allocation_unique_id_offset = 0;
}
printf("Dynamic node ID allocation complete [%d]\n", canardGetLocalNodeID(&canard));
}
void AP_Periph_FW::can_start()
{
node_status.health = UAVCAN_PROTOCOL_NODESTATUS_HEALTH_OK;
node_status.mode = UAVCAN_PROTOCOL_NODESTATUS_MODE_INITIALIZATION;
node_status.uptime_sec = AP_HAL::millis() / 1000U;
static CANConfig cancfg = {
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
0
};
// calculate optimal CAN timings given PCLK1 and baudrate
CanardSTM32CANTimings timings {};
canardSTM32ComputeCANTimings(STM32_PCLK1, unsigned(g.can_baudrate), &timings);
cancfg.btr = CAN_BTR_SJW(0) |
CAN_BTR_TS2(timings.bit_segment_2-1) |
CAN_BTR_TS1(timings.bit_segment_1-1) |
CAN_BTR_BRP(timings.bit_rate_prescaler-1);
if (g.can_node >= 0 && g.can_node < 128) {
PreferredNodeID = g.can_node;
}
CAND1.rxfull_cb = can_rxfull_cb;
canStart(&CAND1, &cancfg);
canardInit(&canard, (uint8_t *)canard_memory_pool, sizeof(canard_memory_pool),
onTransferReceived, shouldAcceptTransfer, NULL);
if (PreferredNodeID != CANARD_BROADCAST_NODE_ID) {
canardSetLocalNodeID(&canard, PreferredNodeID);
}
// wait for dynamic node ID allocation
can_wait_node_id();
}
#ifdef HAL_PERIPH_ENABLE_PWM_HARDPOINT
void AP_Periph_FW::pwm_hardpoint_init()
{
hal.gpio->attach_interrupt(
PWM_HARDPOINT_PIN,
FUNCTOR_BIND_MEMBER(&AP_Periph_FW::pwm_irq_handler, void, uint8_t, bool, uint32_t), AP_HAL::GPIO::INTERRUPT_BOTH);
}
/*
called on PWM pin transition
*/
void AP_Periph_FW::pwm_irq_handler(uint8_t pin, bool pin_state, uint32_t timestamp)
{
if (pin_state == 0 && pwm_hardpoint.last_state == 1 && pwm_hardpoint.last_ts_us != 0) {
uint32_t width = timestamp - pwm_hardpoint.last_ts_us;
if (width > 500 && width < 2500) {
pwm_hardpoint.pwm_value = width;
if (width > pwm_hardpoint.highest_pwm) {
pwm_hardpoint.highest_pwm = width;
}
}
}
pwm_hardpoint.last_state = pin_state;
pwm_hardpoint.last_ts_us = timestamp;
}
void AP_Periph_FW::pwm_hardpoint_update()
{
uint32_t now = AP_HAL::millis();
// send at 10Hz
void *save = hal.scheduler->disable_interrupts_save();
uint16_t value = pwm_hardpoint.highest_pwm;
pwm_hardpoint.highest_pwm = 0;
hal.scheduler->restore_interrupts(save);
float rate = g.hardpoint_rate;
rate = constrain_float(rate, 10, 100);
if (value > 0 && now - pwm_hardpoint.last_send_ms >= 1000U/rate) {
pwm_hardpoint.last_send_ms = now;
uavcan_equipment_hardpoint_Command cmd {};
cmd.hardpoint_id = g.hardpoint_id;
cmd.command = value;
uint8_t buffer[UAVCAN_EQUIPMENT_HARDPOINT_COMMAND_MAX_SIZE];
uint16_t total_size = uavcan_equipment_hardpoint_Command_encode(&cmd, buffer);
canardBroadcast(&canard,
UAVCAN_EQUIPMENT_HARDPOINT_COMMAND_SIGNATURE,
UAVCAN_EQUIPMENT_HARDPOINT_COMMAND_ID,
&transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
&buffer[0],
total_size);
}
}
#endif // HAL_PERIPH_ENABLE_PWM_HARDPOINT
#ifdef HAL_PERIPH_ENABLE_HWESC
void AP_Periph_FW::hwesc_telem_update()
{
if (!hwesc_telem.update()) {
return;
}
const HWESC_Telem::HWESC &t = hwesc_telem.get_telem();
uavcan_equipment_esc_Status pkt {};
pkt.esc_index = g.esc_number;
pkt.voltage = t.voltage;
pkt.current = t.current;
pkt.temperature = MAX(t.mos_temperature, t.cap_temperature);
pkt.rpm = t.rpm;
pkt.power_rating_pct = t.phase_current;
pkt.error_count = t.error_count;
fix_float16(pkt.voltage);
fix_float16(pkt.current);
fix_float16(pkt.temperature);
uint8_t buffer[UAVCAN_EQUIPMENT_ESC_STATUS_MAX_SIZE];
uint16_t total_size = uavcan_equipment_esc_Status_encode(&pkt, buffer);
canardBroadcast(&canard,
UAVCAN_EQUIPMENT_ESC_STATUS_SIGNATURE,
UAVCAN_EQUIPMENT_ESC_STATUS_ID,
&transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
&buffer[0],
total_size);
}
#endif // HAL_PERIPH_ENABLE_HWESC
void AP_Periph_FW::can_update()
{
static uint32_t last_1Hz_ms;
uint32_t now = AP_HAL::millis();
if (now - last_1Hz_ms >= 1000) {
last_1Hz_ms = now;
process1HzTasks(AP_HAL::micros64());
}
can_mag_update();
can_gps_update();
can_baro_update();
can_airspeed_update();
can_rangefinder_update();
#ifdef HAL_PERIPH_ENABLE_BUZZER
can_buzzer_update();
#endif
#ifdef HAL_GPIO_PIN_SAFE_LED
can_safety_LED_update();
#endif
#ifdef HAL_GPIO_PIN_SAFE_BUTTON
can_safety_button_update();
#endif
#ifdef HAL_PERIPH_ENABLE_PWM_HARDPOINT
pwm_hardpoint_update();
#endif
#ifdef HAL_PERIPH_ENABLE_HWESC
hwesc_telem_update();
#endif
processTx();
processRx();
}
/*
update CAN magnetometer
*/
void AP_Periph_FW::can_mag_update(void)
{
#ifdef HAL_PERIPH_ENABLE_MAG
if (!compass.enabled()) {
return;
}
compass.read();
#if CAN_PROBE_CONTINUOUS
if (compass.get_count() == 0) {
static uint32_t last_probe_ms;
uint32_t now = AP_HAL::millis();
if (now - last_probe_ms >= 1000) {
last_probe_ms = now;
compass.init();
}
}
#endif
if (last_mag_update_ms == compass.last_update_ms()) {
return;
}
last_mag_update_ms = compass.last_update_ms();
const Vector3f &field = compass.get_field();
uavcan_equipment_ahrs_MagneticFieldStrength pkt {};
// the canard dsdl compiler doesn't understand float16
for (uint8_t i=0; i<3; i++) {
pkt.magnetic_field_ga[i] = field[i] * 0.001;
fix_float16(pkt.magnetic_field_ga[i]);
}
uint8_t buffer[UAVCAN_EQUIPMENT_AHRS_MAGNETICFIELDSTRENGTH_MAX_SIZE];
uint16_t total_size = uavcan_equipment_ahrs_MagneticFieldStrength_encode(&pkt, buffer);
canardBroadcast(&canard,
UAVCAN_EQUIPMENT_AHRS_MAGNETICFIELDSTRENGTH_SIGNATURE,
UAVCAN_EQUIPMENT_AHRS_MAGNETICFIELDSTRENGTH_ID,
&transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
&buffer[0],
total_size);
#endif // HAL_PERIPH_ENABLE_MAG
}
/*
update CAN GPS
*/
void AP_Periph_FW::can_gps_update(void)
{
#ifdef HAL_PERIPH_ENABLE_GPS
if (gps.get_type(0) == AP_GPS::GPS_Type::GPS_TYPE_NONE) {
return;
}
gps.update();
if (last_gps_update_ms == gps.last_message_time_ms()) {
return;
}
last_gps_update_ms = gps.last_message_time_ms();
{
/*
send Fix packet
*/
uavcan_equipment_gnss_Fix pkt {};
const Location &loc = gps.location();
const Vector3f &vel = gps.velocity();
pkt.timestamp.usec = AP_HAL::micros64();
pkt.gnss_timestamp.usec = gps.time_epoch_usec();
if (pkt.gnss_timestamp.usec == 0) {
pkt.gnss_time_standard = UAVCAN_EQUIPMENT_GNSS_FIX_GNSS_TIME_STANDARD_NONE;
} else {
pkt.gnss_time_standard = UAVCAN_EQUIPMENT_GNSS_FIX_GNSS_TIME_STANDARD_UTC;
}
pkt.longitude_deg_1e8 = uint64_t(loc.lng) * 10ULL;
pkt.latitude_deg_1e8 = uint64_t(loc.lat) * 10ULL;
pkt.height_ellipsoid_mm = loc.alt * 10;
pkt.height_msl_mm = loc.alt * 10;
for (uint8_t i=0; i<3; i++) {
// the canard dsdl compiler doesn't understand float16
pkt.ned_velocity[i] = vel[i];
fix_float16(pkt.ned_velocity[i]);
}
pkt.sats_used = gps.num_sats();
switch (gps.status()) {
case AP_GPS::GPS_Status::NO_GPS:
case AP_GPS::GPS_Status::NO_FIX:
pkt.status = UAVCAN_EQUIPMENT_GNSS_FIX_STATUS_NO_FIX;
break;
case AP_GPS::GPS_Status::GPS_OK_FIX_2D:
pkt.status = UAVCAN_EQUIPMENT_GNSS_FIX_STATUS_2D_FIX;
break;
case AP_GPS::GPS_Status::GPS_OK_FIX_3D:
case AP_GPS::GPS_Status::GPS_OK_FIX_3D_DGPS:
case AP_GPS::GPS_Status::GPS_OK_FIX_3D_RTK_FLOAT:
case AP_GPS::GPS_Status::GPS_OK_FIX_3D_RTK_FIXED:
pkt.status = UAVCAN_EQUIPMENT_GNSS_FIX_STATUS_3D_FIX;
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);
fix_float16(pos_cov[8]);
}
float hacc;
if (gps.horizontal_accuracy(hacc)) {
pos_cov[0] = pos_cov[4] = sq(hacc);
fix_float16(pos_cov[0]);
fix_float16(pos_cov[4]);
}
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;
fix_float16(vel_cov[0]);
fix_float16(vel_cov[4]);
fix_float16(vel_cov[8]);
}
uint8_t buffer[UAVCAN_EQUIPMENT_GNSS_FIX_MAX_SIZE];
uint16_t total_size = uavcan_equipment_gnss_Fix_encode(&pkt, buffer);
canardBroadcast(&canard,
UAVCAN_EQUIPMENT_GNSS_FIX_SIGNATURE,
UAVCAN_EQUIPMENT_GNSS_FIX_ID,
&transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
&buffer[0],
total_size);
}
{
/*
send Fix2 packet
*/
uavcan_equipment_gnss_Fix2 pkt {};
const Location &loc = gps.location();
const Vector3f &vel = gps.velocity();
pkt.timestamp.usec = AP_HAL::micros64();
pkt.gnss_timestamp.usec = gps.time_epoch_usec();
if (pkt.gnss_timestamp.usec == 0) {
pkt.gnss_time_standard = UAVCAN_EQUIPMENT_GNSS_FIX_GNSS_TIME_STANDARD_NONE;
} else {
pkt.gnss_time_standard = UAVCAN_EQUIPMENT_GNSS_FIX_GNSS_TIME_STANDARD_UTC;
}
pkt.longitude_deg_1e8 = uint64_t(loc.lng) * 10ULL;
pkt.latitude_deg_1e8 = uint64_t(loc.lat) * 10ULL;
pkt.height_ellipsoid_mm = loc.alt * 10;
pkt.height_msl_mm = loc.alt * 10;
for (uint8_t i=0; i<3; i++) {
pkt.ned_velocity[i] = vel[i];
}
pkt.sats_used = gps.num_sats();
switch (gps.status()) {
case AP_GPS::GPS_Status::NO_GPS:
case AP_GPS::GPS_Status::NO_FIX:
pkt.status = UAVCAN_EQUIPMENT_GNSS_FIX2_STATUS_NO_FIX;
pkt.mode = UAVCAN_EQUIPMENT_GNSS_FIX2_MODE_SINGLE;
pkt.sub_mode = UAVCAN_EQUIPMENT_GNSS_FIX2_SUB_MODE_DGPS_OTHER;
break;
case AP_GPS::GPS_Status::GPS_OK_FIX_2D:
pkt.status = UAVCAN_EQUIPMENT_GNSS_FIX2_STATUS_2D_FIX;
pkt.mode = UAVCAN_EQUIPMENT_GNSS_FIX2_MODE_SINGLE;
pkt.sub_mode = UAVCAN_EQUIPMENT_GNSS_FIX2_SUB_MODE_DGPS_OTHER;
break;
case AP_GPS::GPS_Status::GPS_OK_FIX_3D:
pkt.status = UAVCAN_EQUIPMENT_GNSS_FIX2_STATUS_3D_FIX;
pkt.mode = UAVCAN_EQUIPMENT_GNSS_FIX2_MODE_SINGLE;
pkt.sub_mode = UAVCAN_EQUIPMENT_GNSS_FIX2_SUB_MODE_DGPS_OTHER;
break;
case AP_GPS::GPS_Status::GPS_OK_FIX_3D_DGPS:
pkt.status = UAVCAN_EQUIPMENT_GNSS_FIX2_STATUS_3D_FIX;
pkt.mode = UAVCAN_EQUIPMENT_GNSS_FIX2_MODE_DGPS;
pkt.sub_mode = UAVCAN_EQUIPMENT_GNSS_FIX2_SUB_MODE_DGPS_SBAS;
break;
case AP_GPS::GPS_Status::GPS_OK_FIX_3D_RTK_FLOAT:
pkt.status = UAVCAN_EQUIPMENT_GNSS_FIX2_STATUS_3D_FIX;
pkt.mode = UAVCAN_EQUIPMENT_GNSS_FIX2_MODE_RTK;
pkt.sub_mode = UAVCAN_EQUIPMENT_GNSS_FIX2_SUB_MODE_RTK_FLOAT;
break;
case AP_GPS::GPS_Status::GPS_OK_FIX_3D_RTK_FIXED:
pkt.status = UAVCAN_EQUIPMENT_GNSS_FIX2_STATUS_3D_FIX;
pkt.mode = UAVCAN_EQUIPMENT_GNSS_FIX2_MODE_RTK;
pkt.sub_mode = UAVCAN_EQUIPMENT_GNSS_FIX2_SUB_MODE_RTK_FIXED;
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);
}
float vacc;
if (gps.vertical_accuracy(vacc)) {
cov[2] = sq(vacc);
}
float sacc;
if (gps.speed_accuracy(sacc)) {
float vc3 = sq(sacc);
cov[3] = cov[4] = cov[5] = vc3;
}
for (uint8_t i=0; i<6; i++) {
fix_float16(cov[i]);
}
uint8_t buffer[UAVCAN_EQUIPMENT_GNSS_FIX2_MAX_SIZE];
uint16_t total_size = uavcan_equipment_gnss_Fix2_encode(&pkt, buffer);
canardBroadcast(&canard,
UAVCAN_EQUIPMENT_GNSS_FIX2_SIGNATURE,
UAVCAN_EQUIPMENT_GNSS_FIX2_ID,
&transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
&buffer[0],
total_size);
}
/*
send aux packet
*/
{
uavcan_equipment_gnss_Auxiliary aux {};
aux.hdop = gps.get_hdop() * 0.01;
aux.vdop = gps.get_vdop() * 0.01;
fix_float16(aux.hdop);
fix_float16(aux.vdop);
uint8_t buffer[UAVCAN_EQUIPMENT_GNSS_AUXILIARY_MAX_SIZE];
uint16_t total_size = uavcan_equipment_gnss_Auxiliary_encode(&aux, buffer);
canardBroadcast(&canard,
UAVCAN_EQUIPMENT_GNSS_AUXILIARY_SIGNATURE,
UAVCAN_EQUIPMENT_GNSS_AUXILIARY_ID,
&transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
&buffer[0],
total_size);
}
#endif // HAL_PERIPH_ENABLE_GPS
}
/*
update CAN baro
*/
void AP_Periph_FW::can_baro_update(void)
{
#ifdef HAL_PERIPH_ENABLE_BARO
if (!periph.g.baro_enable) {
return;
}
baro.update();
if (last_baro_update_ms == baro.get_last_update()) {
return;
}
last_baro_update_ms = baro.get_last_update();
if (!baro.healthy()) {
// don't send any data
return;
}
const float press = baro.get_pressure();
const float temp = baro.get_temperature();
{
uavcan_equipment_air_data_StaticPressure pkt {};
pkt.static_pressure = press;
pkt.static_pressure_variance = 0; // should we make this a parameter?
fix_float16(pkt.static_pressure_variance);
uint8_t buffer[UAVCAN_EQUIPMENT_AIR_DATA_STATICPRESSURE_MAX_SIZE];
uint16_t total_size = uavcan_equipment_air_data_StaticPressure_encode(&pkt, buffer);
canardBroadcast(&canard,
UAVCAN_EQUIPMENT_AIR_DATA_STATICPRESSURE_SIGNATURE,
UAVCAN_EQUIPMENT_AIR_DATA_STATICPRESSURE_ID,
&transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
&buffer[0],
total_size);
}
{
uavcan_equipment_air_data_StaticTemperature pkt {};
pkt.static_temperature = temp + C_TO_KELVIN;
pkt.static_temperature_variance = 0; // should we make this a parameter?
fix_float16(pkt.static_temperature);
fix_float16(pkt.static_temperature_variance);
uint8_t buffer[UAVCAN_EQUIPMENT_AIR_DATA_STATICTEMPERATURE_MAX_SIZE];
uint16_t total_size = uavcan_equipment_air_data_StaticTemperature_encode(&pkt, buffer);
canardBroadcast(&canard,
UAVCAN_EQUIPMENT_AIR_DATA_STATICTEMPERATURE_SIGNATURE,
UAVCAN_EQUIPMENT_AIR_DATA_STATICTEMPERATURE_ID,
&transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
&buffer[0],
total_size);
}
#endif // HAL_PERIPH_ENABLE_BARO
}
/*
update CAN airspeed
*/
void AP_Periph_FW::can_airspeed_update(void)
{
#ifdef HAL_PERIPH_ENABLE_AIRSPEED
if (!airspeed.enabled()) {
return;
}
#if CAN_PROBE_CONTINUOUS
if (!airspeed.healthy()) {
uint32_t now = AP_HAL::millis();
static uint32_t last_probe_ms;
if (now - last_probe_ms >= 1000) {
last_probe_ms = now;
airspeed.init();
}
}
#endif
uint32_t now = AP_HAL::millis();
if (now - last_airspeed_update_ms < 50) {
// max 20Hz data
return;
}
last_airspeed_update_ms = now;
airspeed.update(false);
if (!airspeed.healthy()) {
// don't send any data
return;
}
const float press = airspeed.get_corrected_pressure();
float temp;
if (!airspeed.get_temperature(temp)) {
temp = nanf("");
} else {
temp += C_TO_KELVIN;
}
uavcan_equipment_air_data_RawAirData pkt {};
pkt.differential_pressure = press;
pkt.static_air_temperature = temp;
fix_float16(pkt.differential_pressure);
fix_float16(pkt.static_air_temperature);
// unfilled elements are NaN
pkt.static_pressure = nanf("");
pkt.static_pressure_sensor_temperature = nanf("");
pkt.differential_pressure_sensor_temperature = nanf("");
pkt.pitot_temperature = nanf("");
uint8_t buffer[UAVCAN_EQUIPMENT_AIR_DATA_RAWAIRDATA_MAX_SIZE];
uint16_t total_size = uavcan_equipment_air_data_RawAirData_encode(&pkt, buffer);
canardBroadcast(&canard,
UAVCAN_EQUIPMENT_AIR_DATA_RAWAIRDATA_SIGNATURE,
UAVCAN_EQUIPMENT_AIR_DATA_RAWAIRDATA_ID,
&transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
&buffer[0],
total_size);
#endif // HAL_PERIPH_ENABLE_AIRSPEED
}
/*
update CAN rangefinder
*/
void AP_Periph_FW::can_rangefinder_update(void)
{
#ifdef HAL_PERIPH_ENABLE_RANGEFINDER
if (rangefinder.get_type(0) == RangeFinder::Type::NONE) {
return;
}
#if CAN_PROBE_CONTINUOUS
if (rangefinder.num_sensors() == 0) {
uint32_t now = AP_HAL::millis();
static uint32_t last_probe_ms;
if (now - last_probe_ms >= 1000) {
last_probe_ms = now;
rangefinder.init(ROTATION_NONE);
}
}
#endif
uint32_t now = AP_HAL::millis();
static uint32_t last_update_ms;
if (now - last_update_ms < 20) {
// max 50Hz data
return;
}
last_update_ms = now;
rangefinder.update();
RangeFinder::Status status = rangefinder.status_orient(ROTATION_NONE);
if (status <= RangeFinder::Status::NoData) {
// don't send any data
return;
}
uint16_t dist_cm = rangefinder.distance_cm_orient(ROTATION_NONE);
uavcan_equipment_range_sensor_Measurement pkt {};
pkt.sensor_id = rangefinder.get_address(0);
switch (status) {
case RangeFinder::Status::OutOfRangeLow:
pkt.reading_type = UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_READING_TYPE_TOO_CLOSE;
break;
case RangeFinder::Status::OutOfRangeHigh:
pkt.reading_type = UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_READING_TYPE_TOO_FAR;
break;
case RangeFinder::Status::Good:
pkt.reading_type = UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_READING_TYPE_VALID_RANGE;
break;
default:
pkt.reading_type = UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_READING_TYPE_UNDEFINED;
break;
}
switch (rangefinder.get_mav_distance_sensor_type_orient(ROTATION_NONE)) {
case MAV_DISTANCE_SENSOR_LASER:
pkt.sensor_type = UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_SENSOR_TYPE_LIDAR;
break;
case MAV_DISTANCE_SENSOR_ULTRASOUND:
pkt.sensor_type = UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_SENSOR_TYPE_SONAR;
break;
case MAV_DISTANCE_SENSOR_RADAR:
pkt.sensor_type = UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_SENSOR_TYPE_RADAR;
break;
default:
pkt.sensor_type = UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_SENSOR_TYPE_UNDEFINED;
break;
}
pkt.range = dist_cm * 0.01;
fix_float16(pkt.range);
uint8_t buffer[UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_MAX_SIZE];
uint16_t total_size = uavcan_equipment_range_sensor_Measurement_encode(&pkt, buffer);
canardBroadcast(&canard,
UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_SIGNATURE,
UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_ID,
&transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
&buffer[0],
total_size);
#endif // HAL_PERIPH_ENABLE_RANGEFINDER
}
#ifdef HAL_PERIPH_ENABLE_ADSB
/*
map an ADSB_VEHICLE MAVLink message to a UAVCAN TrafficReport message
*/
void AP_Periph_FW::can_send_ADSB(struct __mavlink_adsb_vehicle_t &msg)
{
ardupilot_equipment_trafficmonitor_TrafficReport pkt {};
pkt.timestamp.usec = 0;
pkt.icao_address = msg.ICAO_address;
pkt.tslc = msg.tslc;
pkt.latitude_deg_1e7 = msg.lat;
pkt.longitude_deg_1e7 = msg.lon;
pkt.alt_m = msg.altitude * 1e-3;
pkt.heading = radians(msg.heading * 1e-2);
fix_float16(pkt.heading);
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(pkt.velocity[0]);
fix_float16(pkt.velocity[1]);
fix_float16(pkt.velocity[2]);
pkt.squawk = msg.squawk;
memcpy(pkt.callsign, msg.callsign, MIN(sizeof(msg.callsign),sizeof(pkt.callsign)));
if (msg.flags & 0x8000) {
pkt.source = ARDUPILOT_EQUIPMENT_TRAFFICMONITOR_TRAFFICREPORT_SOURCE_ADSB_UAT;
} else {
pkt.source = ARDUPILOT_EQUIPMENT_TRAFFICMONITOR_TRAFFICREPORT_SOURCE_ADSB;
}
pkt.traffic_type = msg.emitter_type;
if ((msg.flags & ADSB_FLAGS_VALID_ALTITUDE) != 0 && msg.altitude_type == 0) {
pkt.alt_type = ARDUPILOT_EQUIPMENT_TRAFFICMONITOR_TRAFFICREPORT_ALT_TYPE_PRESSURE_AMSL;
} else if ((msg.flags & ADSB_FLAGS_VALID_ALTITUDE) != 0 && msg.altitude_type == 1) {
pkt.alt_type = ARDUPILOT_EQUIPMENT_TRAFFICMONITOR_TRAFFICREPORT_ALT_TYPE_WGS84;
} else {
pkt.alt_type = ARDUPILOT_EQUIPMENT_TRAFFICMONITOR_TRAFFICREPORT_ALT_TYPE_ALT_UNKNOWN;
}
pkt.lat_lon_valid = (msg.flags & ADSB_FLAGS_VALID_COORDS) != 0;
pkt.heading_valid = (msg.flags & ADSB_FLAGS_VALID_HEADING) != 0;
pkt.velocity_valid = (msg.flags & ADSB_FLAGS_VALID_VELOCITY) != 0;
pkt.callsign_valid = (msg.flags & ADSB_FLAGS_VALID_CALLSIGN) != 0;
pkt.ident_valid = (msg.flags & ADSB_FLAGS_VALID_SQUAWK) != 0;
pkt.simulated_report = (msg.flags & ADSB_FLAGS_SIMULATED) != 0;
// these flags are not in common.xml
pkt.vertical_velocity_valid = (msg.flags & 0x0080) != 0;
pkt.baro_valid = (msg.flags & 0x0100) != 0;
uint8_t buffer[ARDUPILOT_EQUIPMENT_TRAFFICMONITOR_TRAFFICREPORT_MAX_SIZE];
uint16_t total_size = ardupilot_equipment_trafficmonitor_TrafficReport_encode(&pkt, buffer);
canardBroadcast(&canard,
ARDUPILOT_EQUIPMENT_TRAFFICMONITOR_TRAFFICREPORT_SIGNATURE,
ARDUPILOT_EQUIPMENT_TRAFFICMONITOR_TRAFFICREPORT_ID,
&transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
&buffer[0],
total_size);
}
#endif // HAL_PERIPH_ENABLE_ADSB
// printf to CAN LogMessage for debugging
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);
va_end(ap);
pkt.text.len = MIN(n, sizeof(tbuf));
pkt.text.data = (uint8_t *)&tbuf[0];
uint32_t len = uavcan_protocol_debug_LogMessage_encode(&pkt, buffer);
canardBroadcast(&canard,
UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_SIGNATURE,
UAVCAN_PROTOCOL_DEBUG_LOGMESSAGE_ID,
&transfer_id,
CANARD_TRANSFER_PRIORITY_LOW,
buffer,
len);
}
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