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ardupilot/libraries/AP_CANManager/AP_CANManager.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_CANManager - board specific configuration for CAN interface
*/
#include <AP_HAL/AP_HAL.h>
#include <AP_Common/AP_Common.h>
#include "AP_CANManager.h"
#if HAL_CANMANAGER_ENABLED
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include <AP_DroneCAN/AP_DroneCAN.h>
#include <AP_KDECAN/AP_KDECAN.h>
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_PiccoloCAN/AP_PiccoloCAN.h>
#include <AP_EFI/AP_EFI_NWPMU.h>
#include <GCS_MAVLink/GCS.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include <AP_HAL_Linux/CANSocketIface.h>
#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include <AP_HAL_SITL/CANSocketIface.h>
#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#include <hal.h>
#include <AP_HAL_ChibiOS/CANIface.h>
#endif
#include <AP_Common/ExpandingString.h>
#include <AP_Common/sorting.h>
#define LOG_TAG "CANMGR"
#define LOG_BUFFER_SIZE 1024
extern const AP_HAL::HAL& hal;
// table of user settable parameters
const AP_Param::GroupInfo AP_CANManager::var_info[] = {
#if HAL_NUM_CAN_IFACES > 0
// @Group: P1_
// @Path: ../AP_CANManager/AP_CANIfaceParams.cpp
AP_SUBGROUPINFO(_interfaces[0], "P1_", 1, AP_CANManager, AP_CANManager::CANIface_Params),
#endif
#if HAL_NUM_CAN_IFACES > 1
// @Group: P2_
// @Path: ../AP_CANManager/AP_CANIfaceParams.cpp
AP_SUBGROUPINFO(_interfaces[1], "P2_", 2, AP_CANManager, AP_CANManager::CANIface_Params),
#endif
#if HAL_NUM_CAN_IFACES > 2
// @Group: P3_
// @Path: ../AP_CANManager/AP_CANIfaceParams.cpp
AP_SUBGROUPINFO(_interfaces[2], "P3_", 3, AP_CANManager, AP_CANManager::CANIface_Params),
#endif
#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 0
// @Group: D1_
// @Path: ../AP_CANManager/AP_CANDriver.cpp
AP_SUBGROUPINFO(_drv_param[0], "D1_", 4, AP_CANManager, AP_CANManager::CANDriver_Params),
#endif
#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 1
// @Group: D2_
// @Path: ../AP_CANManager/AP_CANDriver.cpp
AP_SUBGROUPINFO(_drv_param[1], "D2_", 5, AP_CANManager, AP_CANManager::CANDriver_Params),
#endif
#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 2
// @Group: D3_
// @Path: ../AP_CANManager/AP_CANDriver.cpp
AP_SUBGROUPINFO(_drv_param[2], "D3_", 6, AP_CANManager, AP_CANManager::CANDriver_Params),
#endif
#if AP_CAN_SLCAN_ENABLED
// @Group: SLCAN_
// @Path: ../AP_CANManager/AP_SLCANIface.cpp
AP_SUBGROUPINFO(_slcan_interface, "SLCAN_", 7, AP_CANManager, SLCAN::CANIface),
#endif
// @Param: LOGLEVEL
// @DisplayName: Loglevel
// @Description: Loglevel for recording initialisation and debug information from CAN Interface
// @Range: 0 4
// @Values: 0: Log None, 1: Log Error, 2: Log Warning and below, 3: Log Info and below, 4: Log Everything
// @User: Advanced
AP_GROUPINFO("LOGLEVEL", 8, AP_CANManager, _loglevel, AP_CANManager::LOG_NONE),
AP_GROUPEND
};
AP_CANManager *AP_CANManager::_singleton;
AP_CANManager::AP_CANManager()
{
AP_Param::setup_object_defaults(this, var_info);
if (_singleton != nullptr) {
AP_HAL::panic("AP_CANManager must be singleton");
}
_singleton = this;
}
#if !AP_TEST_DRONECAN_DRIVERS
void AP_CANManager::init()
{
WITH_SEMAPHORE(_sem);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (AP::sitl() != nullptr) {
if (AP::sitl()->speedup > 1) {
log_text(AP_CANManager::LOG_ERROR, LOG_TAG, "CAN is not supported under speedup.");
return;
}
} else {
AP_HAL::panic("CANManager: SITL not initialised!");
}
#endif
// We only allocate log buffer only when under debug
if (_loglevel != AP_CANManager::LOG_NONE) {
_log_buf = new char[LOG_BUFFER_SIZE];
_log_pos = 0;
}
#if AP_CAN_SLCAN_ENABLED
//Reset all SLCAN related params that needs resetting at boot
_slcan_interface.reset_params();
#endif
AP_CAN::Protocol drv_type[HAL_MAX_CAN_PROTOCOL_DRIVERS] = {};
// loop through interfaces and allocate and initialise Iface,
// Also allocate Driver objects, and add interfaces to them
for (uint8_t i = 0; i < HAL_NUM_CAN_IFACES; i++) {
// Get associated Driver to the interface
uint8_t drv_num = _interfaces[i]._driver_number;
if (drv_num == 0 || drv_num > HAL_MAX_CAN_PROTOCOL_DRIVERS) {
continue;
}
drv_num--;
if (hal.can[i] == nullptr) {
// So if this interface is not allocated allocate it here,
// also pass the index of the CANBus
const_cast <AP_HAL::HAL&> (hal).can[i] = new HAL_CANIface(i);
}
// Initialise the interface we just allocated
if (hal.can[i] == nullptr) {
continue;
}
AP_HAL::CANIface* iface = hal.can[i];
// Find the driver type that we need to allocate and register this interface with
drv_type[drv_num] = (AP_CAN::Protocol) _drv_param[drv_num]._driver_type.get();
bool can_initialised = false;
// Check if this interface need hooking up to slcan passthrough
// instead of a driver
#if AP_CAN_SLCAN_ENABLED
if (_slcan_interface.init_passthrough(i)) {
// we have slcan bridge setup pass that on as can iface
can_initialised = hal.can[i]->init(_interfaces[i]._bitrate, _interfaces[i]._fdbitrate*1000000, AP_HAL::CANIface::NormalMode);
iface = &_slcan_interface;
} else {
#else
if (true) {
#endif
can_initialised = hal.can[i]->init(_interfaces[i]._bitrate, _interfaces[i]._fdbitrate*1000000, AP_HAL::CANIface::NormalMode);
}
if (!can_initialised) {
log_text(AP_CANManager::LOG_ERROR, LOG_TAG, "Failed to initialise CAN Interface %d", i+1);
continue;
}
log_text(AP_CANManager::LOG_INFO, LOG_TAG, "CAN Interface %d initialized well", i + 1);
if (_drivers[drv_num] != nullptr) {
//We already initialised the driver just add interface and move on
log_text(AP_CANManager::LOG_INFO, LOG_TAG, "Adding Interface %d to Driver %d", i + 1, drv_num + 1);
_drivers[drv_num]->add_interface(iface);
continue;
}
if (_num_drivers >= HAL_MAX_CAN_PROTOCOL_DRIVERS) {
// We are exceeding number of drivers,
// this can't be happening time to panic
AP_BoardConfig::config_error("Max number of CAN Drivers exceeded\n\r");
}
// Allocate the set type of Driver
#if HAL_ENABLE_DRONECAN_DRIVERS
if (drv_type[drv_num] == AP_CAN::Protocol::DroneCAN) {
_drivers[drv_num] = _drv_param[drv_num]._uavcan = new AP_DroneCAN(drv_num);
if (_drivers[drv_num] == nullptr) {
AP_BoardConfig::allocation_error("uavcan %d", i + 1);
continue;
}
AP_Param::load_object_from_eeprom((AP_DroneCAN*)_drivers[drv_num], AP_DroneCAN::var_info);
} else
#endif
#if HAL_PICCOLO_CAN_ENABLE
if (drv_type[drv_num] == AP_CAN::Protocol::PiccoloCAN) {
_drivers[drv_num] = _drv_param[drv_num]._piccolocan = new AP_PiccoloCAN;
if (_drivers[drv_num] == nullptr) {
AP_BoardConfig::allocation_error("PiccoloCAN %d", drv_num + 1);
continue;
}
AP_Param::load_object_from_eeprom((AP_PiccoloCAN*)_drivers[drv_num], AP_PiccoloCAN::var_info);
} else
#endif
{
continue;
}
_num_drivers++;
// Hook this interface to the selected Driver Type
_drivers[drv_num]->add_interface(iface);
log_text(AP_CANManager::LOG_INFO, LOG_TAG, "Adding Interface %d to Driver %d", i + 1, drv_num + 1);
}
for (uint8_t drv_num = 0; drv_num < HAL_MAX_CAN_PROTOCOL_DRIVERS; drv_num++) {
//initialise all the Drivers
// Cache the driver type, initialized or not, so we can detect that it is in the params at boot via get_driver_type().
// This allows drivers that are initialized by CANSensor instead of CANManager to know if they should init or not
_driver_type_cache[drv_num] = drv_type[drv_num];
if (_drivers[drv_num] == nullptr) {
continue;
}
bool enable_filter = false;
for (uint8_t i = 0; i < HAL_NUM_CAN_IFACES; i++) {
if (_interfaces[i]._driver_number == (drv_num+1) &&
hal.can[i] != nullptr &&
hal.can[i]->get_operating_mode() == AP_HAL::CANIface::FilteredMode) {
// Don't worry we don't enable Filters for Normal Ifaces under the driver
// this is just to ensure we enable them for the ones we already decided on
enable_filter = true;
break;
}
}
_drivers[drv_num]->init(drv_num, enable_filter);
}
}
#else
void AP_CANManager::init()
{
WITH_SEMAPHORE(_sem);
for (uint8_t i = 0; i < HAL_NUM_CAN_IFACES; i++) {
if ((AP_CAN::Protocol) _drv_param[i]._driver_type.get() == AP_CAN::Protocol::DroneCAN) {
_drivers[i] = _drv_param[i]._uavcan = new AP_DroneCAN(i);
if (_drivers[i] == nullptr) {
AP_BoardConfig::allocation_error("uavcan %d", i + 1);
continue;
}
AP_Param::load_object_from_eeprom((AP_DroneCAN*)_drivers[i], AP_DroneCAN::var_info);
_drivers[i]->init(i, true);
_driver_type_cache[i] = (AP_CAN::Protocol) _drv_param[i]._driver_type.get();
}
}
}
#endif
/*
register a new CAN driver
*/
bool AP_CANManager::register_driver(AP_CAN::Protocol dtype, AP_CANDriver *driver)
{
WITH_SEMAPHORE(_sem);
for (uint8_t i = 0; i < HAL_NUM_CAN_IFACES; i++) {
uint8_t drv_num = _interfaces[i]._driver_number;
if (drv_num == 0 || drv_num > HAL_MAX_CAN_PROTOCOL_DRIVERS) {
continue;
}
// from 1 based to 0 based
drv_num--;
if (dtype != (AP_CAN::Protocol)_drv_param[drv_num]._driver_type.get()) {
continue;
}
if (_drivers[drv_num] != nullptr) {
continue;
}
if (_num_drivers >= HAL_MAX_CAN_PROTOCOL_DRIVERS) {
continue;
}
if (hal.can[i] == nullptr) {
// if this interface is not allocated allocate it here,
// also pass the index of the CANBus
const_cast <AP_HAL::HAL&> (hal).can[i] = new HAL_CANIface(i);
}
// Initialise the interface we just allocated
if (hal.can[i] == nullptr) {
continue;
}
AP_HAL::CANIface* iface = hal.can[i];
_drivers[drv_num] = driver;
_drivers[drv_num]->add_interface(iface);
log_text(AP_CANManager::LOG_INFO, LOG_TAG, "Adding Interface %d to Driver %d", i + 1, drv_num + 1);
_drivers[drv_num]->init(drv_num, false);
_driver_type_cache[drv_num] = dtype;
_num_drivers++;
return true;
}
return false;
}
// Method used by CAN related library methods to report status and debug info
// The result of this method can be accessed via ftp get @SYS/can_log.txt
void AP_CANManager::log_text(AP_CANManager::LogLevel loglevel, const char *tag, const char *fmt, ...)
{
if (_log_buf == nullptr) {
return;
}
if (loglevel > _loglevel) {
return;
}
if ((LOG_BUFFER_SIZE - _log_pos) < (10 + strlen(tag) + strlen(fmt))) {
// reset log pos
_log_pos = 0;
}
//Tag Log Message
switch (loglevel) {
case AP_CANManager::LOG_DEBUG :
_log_pos += hal.util->snprintf(&_log_buf[_log_pos], LOG_BUFFER_SIZE - _log_pos, "\n%s DEBUG :", tag);
break;
case AP_CANManager::LOG_INFO :
_log_pos += hal.util->snprintf(&_log_buf[_log_pos], LOG_BUFFER_SIZE - _log_pos, "\n%s INFO :", tag);
break;
case AP_CANManager::LOG_WARNING :
_log_pos += hal.util->snprintf(&_log_buf[_log_pos], LOG_BUFFER_SIZE - _log_pos, "\n%s WARN :", tag);
break;
case AP_CANManager::LOG_ERROR :
_log_pos += hal.util->snprintf(&_log_buf[_log_pos], LOG_BUFFER_SIZE - _log_pos, "\n%s ERROR :", tag);
break;
default :
return;
}
va_list arg_list;
va_start(arg_list, fmt);
_log_pos += hal.util->vsnprintf(&_log_buf[_log_pos], LOG_BUFFER_SIZE - _log_pos, fmt, arg_list);
va_end(arg_list);
}
// log retrieve method used by file sys method to report can log
void AP_CANManager::log_retrieve(ExpandingString &str) const
{
if (_log_buf == nullptr) {
gcs().send_text(MAV_SEVERITY_ERROR, "Log buffer not available");
return;
}
str.append(_log_buf, _log_pos);
}
#if HAL_GCS_ENABLED
/*
handle MAV_CMD_CAN_FORWARD mavlink long command
*/
bool AP_CANManager::handle_can_forward(mavlink_channel_t chan, const mavlink_command_long_t &packet, const mavlink_message_t &msg)
{
WITH_SEMAPHORE(can_forward.sem);
const int8_t bus = int8_t(packet.param1)-1;
if (bus == -1) {
for (auto can_iface : hal.can) {
if (can_iface) {
can_iface->register_frame_callback(nullptr);
}
}
return true;
}
if (bus >= HAL_NUM_CAN_IFACES || hal.can[bus] == nullptr) {
return false;
}
if (!hal.can[bus]->register_frame_callback(
FUNCTOR_BIND_MEMBER(&AP_CANManager::can_frame_callback, void, uint8_t, const AP_HAL::CANFrame &))) {
return false;
}
can_forward.last_callback_enable_ms = AP_HAL::millis();
can_forward.chan = chan;
can_forward.system_id = msg.sysid;
can_forward.component_id = msg.compid;
// remove registration on other buses, allowing for bus change in the GUI tool
for (uint8_t i=0; i<HAL_NUM_CAN_IFACES; i++) {
if (i != bus && hal.can[i] != nullptr) {
hal.can[i]->register_frame_callback(nullptr);
}
}
return true;
}
/*
handle a CAN_FRAME packet
*/
void AP_CANManager::handle_can_frame(const mavlink_message_t &msg)
{
if (frame_buffer == nullptr) {
// allocate frame buffer
WITH_SEMAPHORE(_sem);
// 20 is good for firmware upload
uint8_t buffer_size = 20;
while (frame_buffer == nullptr && buffer_size > 0) {
// we'd like 20 frames, but will live with less
frame_buffer = new ObjectBuffer<BufferFrame>(buffer_size);
if (frame_buffer != nullptr && frame_buffer->get_size() != 0) {
// register a callback for when frames can't be sent immediately
hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&AP_CANManager::process_frame_buffer, void));
break;
}
delete frame_buffer;
frame_buffer = nullptr;
buffer_size /= 2;
}
if (frame_buffer == nullptr) {
// disard the frames
return;
}
}
switch (msg.msgid) {
case MAVLINK_MSG_ID_CAN_FRAME: {
mavlink_can_frame_t p;
mavlink_msg_can_frame_decode(&msg, &p);
if (p.bus >= HAL_NUM_CAN_IFACES || hal.can[p.bus] == nullptr) {
return;
}
struct BufferFrame frame {
bus : p.bus,
frame : AP_HAL::CANFrame(p.id, p.data, p.len)
};
WITH_SEMAPHORE(_sem);
frame_buffer->push(frame);
break;
}
case MAVLINK_MSG_ID_CANFD_FRAME: {
mavlink_canfd_frame_t p;
mavlink_msg_canfd_frame_decode(&msg, &p);
if (p.bus >= HAL_NUM_CAN_IFACES || hal.can[p.bus] == nullptr) {
return;
}
struct BufferFrame frame {
bus : p.bus,
frame : AP_HAL::CANFrame(p.id, p.data, p.len, true)
};
WITH_SEMAPHORE(_sem);
frame_buffer->push(frame);
break;
}
}
process_frame_buffer();
}
/*
process the frame buffer
*/
void AP_CANManager::process_frame_buffer(void)
{
while (frame_buffer) {
WITH_SEMAPHORE(_sem);
struct BufferFrame frame;
const uint16_t timeout_us = 2000;
if (!frame_buffer->peek(frame)) {
// no frames in the queue
break;
}
const int16_t retcode = hal.can[frame.bus]->send(frame.frame,
AP_HAL::native_micros64() + timeout_us,
AP_HAL::CANIface::IsMAVCAN);
if (retcode == 0) {
// no space in the CAN output slots, try again later
break;
}
// retcode == 1 means sent, -1 means a frame that can't be
// sent. Either way we should remove from the queue
frame_buffer->pop();
}
}
/*
handle a CAN_FILTER_MODIFY packet
*/
void AP_CANManager::handle_can_filter_modify(const mavlink_message_t &msg)
{
mavlink_can_filter_modify_t p;
mavlink_msg_can_filter_modify_decode(&msg, &p);
const int8_t bus = int8_t(p.bus)-1;
if (bus >= HAL_NUM_CAN_IFACES || hal.can[bus] == nullptr) {
return;
}
if (p.num_ids > ARRAY_SIZE(p.ids)) {
return;
}
uint16_t *new_ids = nullptr;
uint16_t num_new_ids = 0;
WITH_SEMAPHORE(can_forward.sem);
// sort the list, so we can bisection search and the array
// operations below are efficient
insertion_sort_uint16(p.ids, p.num_ids);
switch (p.operation) {
case CAN_FILTER_REPLACE: {
if (p.num_ids == 0) {
can_forward.num_filter_ids = 0;
delete[] can_forward.filter_ids;
can_forward.filter_ids = nullptr;
return;
}
if (p.num_ids == can_forward.num_filter_ids &&
memcmp(p.ids, can_forward.filter_ids, p.num_ids*sizeof(uint16_t)) == 0) {
// common case of replacing with identical list
return;
}
new_ids = new uint16_t[p.num_ids];
if (new_ids != nullptr) {
num_new_ids = p.num_ids;
memcpy((void*)new_ids, (const void *)p.ids, p.num_ids*sizeof(uint16_t));
}
break;
}
case CAN_FILTER_ADD: {
if (common_list_uint16(can_forward.filter_ids, can_forward.num_filter_ids,
p.ids, p.num_ids) == p.num_ids) {
// nothing changing
return;
}
new_ids = new uint16_t[can_forward.num_filter_ids+p.num_ids];
if (new_ids == nullptr) {
return;
}
if (can_forward.num_filter_ids != 0) {
memcpy(new_ids, can_forward.filter_ids, can_forward.num_filter_ids*sizeof(uint16_t));
}
memcpy(&new_ids[can_forward.num_filter_ids], p.ids, p.num_ids*sizeof(uint16_t));
insertion_sort_uint16(new_ids, can_forward.num_filter_ids+p.num_ids);
num_new_ids = remove_duplicates_uint16(new_ids, can_forward.num_filter_ids+p.num_ids);
break;
}
case CAN_FILTER_REMOVE: {
if (common_list_uint16(can_forward.filter_ids, can_forward.num_filter_ids,
p.ids, p.num_ids) == 0) {
// nothing changing
return;
}
can_forward.num_filter_ids = remove_list_uint16(can_forward.filter_ids, can_forward.num_filter_ids,
p.ids, p.num_ids);
if (can_forward.num_filter_ids == 0) {
delete[] can_forward.filter_ids;
can_forward.filter_ids = nullptr;
}
break;
}
}
if (new_ids != nullptr) {
// handle common case of no change
if (num_new_ids == can_forward.num_filter_ids &&
memcmp(new_ids, can_forward.filter_ids, num_new_ids*sizeof(uint16_t)) == 0) {
delete[] new_ids;
} else {
// put the new list in place
delete[] can_forward.filter_ids;
can_forward.filter_ids = new_ids;
can_forward.num_filter_ids = num_new_ids;
}
}
}
/*
handler for CAN frames from the registered callback, sending frames
out as CAN_FRAME or CANFD_FRAME messages
*/
void AP_CANManager::can_frame_callback(uint8_t bus, const AP_HAL::CANFrame &frame)
{
WITH_SEMAPHORE(can_forward.sem);
if (can_forward.frame_counter++ == 100) {
// check every 100 frames for disabling CAN_FRAME send
// we stop sending after 5s if the client stops
// sending MAV_CMD_CAN_FORWARD requests
if (AP_HAL::millis() - can_forward.last_callback_enable_ms > 5000) {
hal.can[bus]->register_frame_callback(nullptr);
return;
}
can_forward.frame_counter = 0;
}
WITH_SEMAPHORE(comm_chan_lock(can_forward.chan));
if (can_forward.filter_ids != nullptr) {
// work out ID of this frame
uint16_t id = 0;
if ((frame.id&0xff) != 0) {
// not anonymous
if (frame.id & 0x80) {
// service message
id = uint8_t(frame.id>>16);
} else {
// message frame
id = uint16_t(frame.id>>8);
}
}
if (!bisect_search_uint16(can_forward.filter_ids, can_forward.num_filter_ids, id)) {
return;
}
}
const uint8_t data_len = AP_HAL::CANFrame::dlcToDataLength(frame.dlc);
if (frame.isCanFDFrame()) {
if (HAVE_PAYLOAD_SPACE(can_forward.chan, CANFD_FRAME)) {
mavlink_msg_canfd_frame_send(can_forward.chan, can_forward.system_id, can_forward.component_id,
bus, data_len, frame.id, const_cast<uint8_t*>(frame.data));
}
} else {
if (HAVE_PAYLOAD_SPACE(can_forward.chan, CAN_FRAME)) {
mavlink_msg_can_frame_send(can_forward.chan, can_forward.system_id, can_forward.component_id,
bus, data_len, frame.id, const_cast<uint8_t*>(frame.data));
}
}
}
#endif // HAL_GCS_ENABLED
AP_CANManager& AP::can()
{
return *AP_CANManager::get_singleton();
}
#endif
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