mirror of https://github.com/ArduPilot/ardupilot
573 lines
16 KiB
C++
573 lines
16 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Author: Siddharth Bharat Purohit
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* Referenced from implementation by Pavel Kirienko <pavel.kirienko@zubax.com>
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* for Zubax Babel
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*/
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#include <AP_HAL/AP_HAL.h>
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#if HAL_WITH_UAVCAN && !HAL_MINIMIZE_FEATURES && CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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#include "AP_UAVCAN_SLCAN.h"
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#include <AP_SerialManager/AP_SerialManager.h>
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#include <AP_Common/Semaphore.h>
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#include <AP_HAL_ChibiOS/CANSerialRouter.h>
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extern const AP_HAL::HAL& hal;
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static uint8_t nibble2hex(uint8_t x)
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{
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// Allocating in RAM because it's faster
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static uint8_t ConversionTable[] = {
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'0', '1', '2', '3', '4', '5', '6', '7', '8', '9', 'A', 'B', 'C', 'D', 'E', 'F'
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};
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return ConversionTable[x & 0x0F];
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}
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static bool hex2nibble_error;
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static uint8_t hex2nibble(char ch)
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{
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// Must go into RAM, not flash, because flash is slow
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static uint8_t NumConversionTable[] = {
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0, 1, 2, 3, 4, 5, 6, 7, 8, 9
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};
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static uint8_t AlphaConversionTable[] = {
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10, 11, 12, 13, 14, 15
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};
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uint8_t out = 255;
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if (ch >= '0' && ch <= '9') {
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out = NumConversionTable[int(ch) - int('0')];
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}
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else if (ch >= 'a' && ch <= 'f') {
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out = AlphaConversionTable[int(ch) - int('a')];
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}
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else if (ch >= 'A' && ch <= 'F') {
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out = AlphaConversionTable[int(ch) - int('A')];
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}
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if (out == 255) {
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hex2nibble_error = true;
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}
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return out;
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}
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bool SLCAN::CAN::push_Frame(uavcan::CanFrame &frame)
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{
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SLCAN::CanRxItem frm;
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frm.frame = frame;
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frm.flags = 0;
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frm.utc_usec = AP_HAL::micros64();
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slcan_router().route_frame_to_can(frm.frame, frm.utc_usec);
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return rx_queue_.push(frm);
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}
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/**
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* General frame format:
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* <type> <id> <dlc> <data>
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* The emitting functions below are highly optimized for speed.
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*/
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bool SLCAN::CAN::handle_FrameDataExt(const char* cmd)
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{
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uavcan::CanFrame f;
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hex2nibble_error = false;
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f.id = f.FlagEFF |
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(hex2nibble(cmd[1]) << 28) |
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(hex2nibble(cmd[2]) << 24) |
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(hex2nibble(cmd[3]) << 20) |
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(hex2nibble(cmd[4]) << 16) |
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(hex2nibble(cmd[5]) << 12) |
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(hex2nibble(cmd[6]) << 8) |
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(hex2nibble(cmd[7]) << 4) |
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(hex2nibble(cmd[8]) << 0);
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if (cmd[9] < '0' || cmd[9] > ('0' + uavcan::CanFrame::MaxDataLen)) {
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return false;
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}
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f.dlc = cmd[9] - '0';
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if (f.dlc > uavcan::CanFrame::MaxDataLen) {
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return false;
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}
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{
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const char* p = &cmd[10];
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for (unsigned i = 0; i < f.dlc; i++) {
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f.data[i] = (hex2nibble(*p) << 4) | hex2nibble(*(p + 1));
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p += 2;
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}
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}
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if (hex2nibble_error) {
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return false;
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}
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return push_Frame(f);
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}
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bool SLCAN::CAN::handle_FrameDataStd(const char* cmd)
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{
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uavcan::CanFrame f;
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hex2nibble_error = false;
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f.id = (hex2nibble(cmd[1]) << 8) |
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(hex2nibble(cmd[2]) << 4) |
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(hex2nibble(cmd[3]) << 0);
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if (cmd[4] < '0' || cmd[4] > ('0' + uavcan::CanFrame::MaxDataLen)) {
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return false;
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}
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f.dlc = cmd[4] - '0';
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if (f.dlc > uavcan::CanFrame::MaxDataLen) {
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return false;
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}
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{
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const char* p = &cmd[5];
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for (unsigned i = 0; i < f.dlc; i++) {
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f.data[i] = (hex2nibble(*p) << 4) | hex2nibble(*(p + 1));
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p += 2;
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}
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}
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if (hex2nibble_error) {
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return false;
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}
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return push_Frame(f);
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}
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bool SLCAN::CAN::handle_FrameRTRExt(const char* cmd)
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{
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uavcan::CanFrame f;
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hex2nibble_error = false;
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f.id = f.FlagEFF | f.FlagRTR |
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(hex2nibble(cmd[1]) << 28) |
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(hex2nibble(cmd[2]) << 24) |
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(hex2nibble(cmd[3]) << 20) |
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(hex2nibble(cmd[4]) << 16) |
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(hex2nibble(cmd[5]) << 12) |
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(hex2nibble(cmd[6]) << 8) |
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(hex2nibble(cmd[7]) << 4) |
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(hex2nibble(cmd[8]) << 0);
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if (cmd[9] < '0' || cmd[9] > ('0' + uavcan::CanFrame::MaxDataLen)) {
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return false;
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}
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f.dlc = cmd[9] - '0';
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if (f.dlc > uavcan::CanFrame::MaxDataLen) {
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return false;
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}
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if (hex2nibble_error) {
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return false;
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}
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return push_Frame(f);
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}
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bool SLCAN::CAN::handle_FrameRTRStd(const char* cmd)
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{
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uavcan::CanFrame f;
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hex2nibble_error = false;
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f.id = f.FlagRTR |
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(hex2nibble(cmd[1]) << 8) |
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(hex2nibble(cmd[2]) << 4) |
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(hex2nibble(cmd[3]) << 0);
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if (cmd[4] < '0' || cmd[4] > ('0' + uavcan::CanFrame::MaxDataLen)) {
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return false;
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}
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f.dlc = cmd[4] - '0';
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if (f.dlc <= uavcan::CanFrame::MaxDataLen) {
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return false;
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}
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if (hex2nibble_error) {
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return false;
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}
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return push_Frame(f);
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}
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static inline const char* getASCIIStatusCode(bool status)
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{
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return status ? "\r" : "\a";
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}
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bool SLCAN::CANManager::begin(uint32_t bitrate, uint8_t can_number)
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{
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if (driver_.init(bitrate, SLCAN::CAN::NormalMode, nullptr) < 0) {
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return false;
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}
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if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&SLCAN::CANManager::reader_trampoline, void), "SLCAN", 4096, AP_HAL::Scheduler::PRIORITY_CAN, -1)) {
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return false;
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}
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initialized(true);
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return true;
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}
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bool SLCAN::CANManager::is_initialized()
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{
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return initialized_;
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}
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void SLCAN::CANManager::initialized(bool val)
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{
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initialized_ = val;
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}
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int SLCAN::CAN::init(const uint32_t bitrate, const OperatingMode mode, AP_HAL::UARTDriver* port)
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{
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if (port == nullptr) {
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return -1;
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}
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_port = port;
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initialized_ = true;
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return 0;
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}
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/**
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* General frame format:
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* <type> <id> <dlc> <data> [timestamp msec] [flags]
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* Types:
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* R - RTR extended
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* r - RTR standard
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* T - Data extended
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* t - Data standard
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* Flags:
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* L - this frame is a loopback frame; timestamp field contains TX timestamp
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*/
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int16_t SLCAN::CAN::reportFrame(const uavcan::CanFrame& frame, bool loopback, uint64_t timestamp_usec)
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{
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constexpr unsigned SLCANMaxFrameSize = 40;
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uint8_t buffer[SLCANMaxFrameSize] = {'\0'};
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uint8_t* p = &buffer[0];
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/*
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* Frame type
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*/
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if (frame.isRemoteTransmissionRequest()) {
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*p++ = frame.isExtended() ? 'R' : 'r';
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}
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else if (frame.isErrorFrame()) {
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return -1; // Not supported
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}
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else {
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*p++ = frame.isExtended() ? 'T' : 't';
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}
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/*
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* ID
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*/
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{
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const uint32_t id = frame.id & frame.MaskExtID;
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if (frame.isExtended()) {
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*p++ = nibble2hex(id >> 28);
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*p++ = nibble2hex(id >> 24);
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*p++ = nibble2hex(id >> 20);
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*p++ = nibble2hex(id >> 16);
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*p++ = nibble2hex(id >> 12);
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}
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*p++ = nibble2hex(id >> 8);
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*p++ = nibble2hex(id >> 4);
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*p++ = nibble2hex(id >> 0);
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}
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/*
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* DLC
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*/
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*p++ = char('0' + frame.dlc);
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/*
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* Data
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*/
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for (unsigned i = 0; i < frame.dlc; i++) {
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const uint8_t byte = frame.data[i];
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*p++ = nibble2hex(byte >> 4);
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*p++ = nibble2hex(byte);
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}
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/*
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* Timestamp
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*/
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//if (param_cache.timestamping_on)
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{
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// SLCAN format - [0, 60000) milliseconds
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const auto slcan_timestamp = uint16_t(timestamp_usec / 1000U);
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*p++ = nibble2hex(slcan_timestamp >> 12);
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*p++ = nibble2hex(slcan_timestamp >> 8);
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*p++ = nibble2hex(slcan_timestamp >> 4);
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*p++ = nibble2hex(slcan_timestamp >> 0);
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}
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/*
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* Flags
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*/
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//if (param_cache.flags_on)
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{
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if (loopback) {
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*p++ = 'L';
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}
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}
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/*
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* Finalization
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*/
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*p++ = '\r';
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const auto frame_size = unsigned(p - &buffer[0]);
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if (_port->txspace() < _pending_frame_size) {
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_pending_frame_size = frame_size;
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return 0;
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}
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//Write to Serial
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if (!_port->write_locked(&buffer[0], frame_size, _serial_lock_key)) {
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return 0;
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}
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return 1;
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}
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/**
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* Accepts command string, returns response string or nullptr if no response is needed.
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*/
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const char* SLCAN::CAN::processCommand(char* cmd)
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{
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/*
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* High-traffic SLCAN commands go first
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*/
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if (cmd[0] == 'T') {
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return handle_FrameDataExt(cmd) ? "Z\r" : "\a";
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}
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else if (cmd[0] == 't') {
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return handle_FrameDataStd(cmd) ? "z\r" : "\a";
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}
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else if (cmd[0] == 'R') {
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return handle_FrameRTRExt(cmd) ? "Z\r" : "\a";
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}
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else if (cmd[0] == 'r' && cmd[1] <= '9') { // The second condition is needed to avoid greedy matching
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// See long commands below
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return handle_FrameRTRStd(cmd) ? "z\r" : "\a";
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}
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/*
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* Regular SLCAN commands
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*/
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switch (cmd[0]) {
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case 'S': // Set CAN bitrate
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case 'O': // Open CAN in normal mode
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case 'L': // Open CAN in listen-only mode
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case 'l': { // Open CAN with loopback enabled
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_close = false;
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return getASCIIStatusCode(true); // Returning success for compatibility reasons
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}
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case 'C': { // Close CAN
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_close = true;
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return getASCIIStatusCode(true); // Returning success for compatibility reasons
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}
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case 'M': // Set CAN acceptance filter ID
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case 'm': // Set CAN acceptance filter mask
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case 'U': // Set UART baud rate, see http://www.can232.com/docs/can232_v3.pdf
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case 'Z': { // Enable/disable RX and loopback timestamping
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return getASCIIStatusCode(true); // Returning success for compatibility reasons
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}
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case 'F': { // Get status flags
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_port->printf("F%02X\r", unsigned(0)); // Returning success for compatibility reasons
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return nullptr;
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}
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case 'V': { // HW/SW version
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_port->printf("V%x%x%x%x\r", AP_UAVCAN_HW_VERS_MAJOR, AP_UAVCAN_HW_VERS_MINOR, AP_UAVCAN_SW_VERS_MAJOR, AP_UAVCAN_SW_VERS_MINOR);
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return nullptr;
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}
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case 'N': { // Serial number
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uavcan::protocol::HardwareVersion hw_version; // Standard type uavcan.protocol.HardwareVersion
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const uint8_t uid_buf_len = hw_version.unique_id.capacity();
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uint8_t uid_len = uid_buf_len;
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uint8_t unique_id[uid_buf_len];
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char buf[uid_buf_len * 2 + 1] = {'\0'};
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char* pos = &buf[0];
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if (hal.util->get_system_id_unformatted(unique_id, uid_len)) {
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for (uint8_t i = 0; i < uid_buf_len; i++) {
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*pos++ = nibble2hex(unique_id[i] >> 4);
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*pos++ = nibble2hex(unique_id[i]);
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}
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}
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*pos++ = '\0';
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_port->printf("N%s\r", &buf[0]);
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return nullptr;
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}
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default: {
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break;
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}
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}
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return getASCIIStatusCode(false);
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}
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/**
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* Please keep in mind that this function is strongly optimized for speed.
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*/
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inline void SLCAN::CAN::addByte(const uint8_t byte)
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{
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if ((byte >= 32 && byte <= 126)) { // Normal printable ASCII character
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if (pos_ < SLCAN_BUFFER_SIZE) {
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buf_[pos_] = char(byte);
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pos_ += 1;
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}
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else {
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reset(); // Buffer overrun; silently drop the data
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}
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}
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else if (byte == '\r') { // End of command (SLCAN)
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// Processing the command
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buf_[pos_] = '\0';
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const char* const response = processCommand(reinterpret_cast<char*>(&buf_[0]));
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reset();
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// Sending the response if provided
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if (response != nullptr) {
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_port->write_locked(reinterpret_cast<const uint8_t*>(response),
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strlen(response), _serial_lock_key);
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}
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}
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else if (byte == 8 || byte == 127) { // DEL or BS (backspace)
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if (pos_ > 0) {
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pos_ -= 1;
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}
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}
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else { // This also includes Ctrl+C, Ctrl+D
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reset(); // Invalid byte - drop the current command
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}
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}
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void SLCAN::CAN::reset()
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{
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pos_ = 0;
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}
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void SLCAN::CAN::reader()
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{
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if (_port == nullptr) {
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return;
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}
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if (!_port_initialised) {
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//_port->begin(bitrate_);
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_port_initialised = true;
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}
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_port->lock_port(_serial_lock_key, _serial_lock_key);
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if (!_port->wait_timeout(1,1)) {
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int16_t data = _port->read_locked(_serial_lock_key);
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while (data > 0) {
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addByte(data);
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data = _port->read_locked(_serial_lock_key);
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}
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}
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}
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int16_t SLCAN::CAN::send(const uavcan::CanFrame& frame, uavcan::MonotonicTime tx_deadline, uavcan::CanIOFlags flags)
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{
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if (frame.isErrorFrame() || frame.dlc > 8) {
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return -ErrUnsupportedFrame;
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}
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return reportFrame(frame, flags & uavcan::CanIOFlagLoopback, AP_HAL::micros64());
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}
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int16_t SLCAN::CAN::receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& out_ts_monotonic,
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uavcan::UtcTime& out_ts_utc, uavcan::CanIOFlags& out_flags)
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{
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out_ts_monotonic = uavcan::MonotonicTime::fromUSec(AP_HAL::micros64());; // High precision is not required for monotonic timestamps
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uint64_t utc_usec;
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CanRxItem frm;
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rx_queue_.pop(frm);
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out_frame = frm.frame;
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utc_usec = frm.utc_usec;
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out_flags = frm.flags;
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out_ts_utc = uavcan::UtcTime::fromUSec(utc_usec);
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return 1;
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}
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bool SLCAN::CAN::pending_frame_sent()
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{
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if (_pending_frame_size == 0) {
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return false;
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}
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else if (_port->txspace() >= _pending_frame_size) {
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_pending_frame_size = 0;
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return true;
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}
|
|
return false;
|
|
}
|
|
|
|
bool SLCAN::CAN::isRxBufferEmpty()
|
|
{
|
|
return rx_queue_.available() == 0;
|
|
}
|
|
|
|
bool SLCAN::CAN::canAcceptNewTxFrame() const
|
|
{
|
|
constexpr unsigned SLCANMaxFrameSize = 40;
|
|
if (_port->txspace() >= SLCANMaxFrameSize) {
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
uavcan::CanSelectMasks SLCAN::CANManager::makeSelectMasks(const uavcan::CanFrame* (&pending_tx)[uavcan::MaxCanIfaces])
|
|
{
|
|
uavcan::CanSelectMasks msk;
|
|
|
|
for (uint8_t i = 0; i < _ifaces_num; i++) {
|
|
if (!driver_.is_initialized()) {
|
|
continue;
|
|
}
|
|
|
|
if (!driver_.isRxBufferEmpty()) {
|
|
msk.read |= 1 << i;
|
|
}
|
|
|
|
if (pending_tx[i] != nullptr) {
|
|
if (driver_.canAcceptNewTxFrame()) {
|
|
msk.write |= 1 << i;
|
|
}
|
|
}
|
|
}
|
|
|
|
return msk;
|
|
}
|
|
|
|
int16_t SLCAN::CANManager::select(uavcan::CanSelectMasks& inout_masks,
|
|
const uavcan::CanFrame* (&pending_tx)[uavcan::MaxCanIfaces], uavcan::MonotonicTime blocking_deadline)
|
|
{
|
|
const uavcan::CanSelectMasks in_masks = inout_masks;
|
|
const uavcan::MonotonicTime time = uavcan::MonotonicTime::fromUSec(AP_HAL::micros64());
|
|
|
|
inout_masks = makeSelectMasks(pending_tx); // Check if we already have some of the requested events
|
|
if ((inout_masks.read & in_masks.read) != 0 || (inout_masks.write & in_masks.write) != 0) {
|
|
return 1;
|
|
}
|
|
_irq_handler_ctx = chThdGetSelfX();
|
|
if (blocking_deadline.toUSec()) {
|
|
chEvtWaitAnyTimeout(ALL_EVENTS, chTimeUS2I((blocking_deadline - time).toUSec())); // Block until timeout expires or any iface updates
|
|
}
|
|
inout_masks = makeSelectMasks(pending_tx); // Return what we got even if none of the requested events are set
|
|
return 1; // Return value doesn't matter as long as it is non-negative
|
|
}
|
|
|
|
void SLCAN::CANManager::reader_trampoline(void)
|
|
{
|
|
while (true) {
|
|
driver_.reader();
|
|
if ((driver_.pending_frame_sent() || !driver_.isRxBufferEmpty()) && _irq_handler_ctx) {
|
|
chEvtSignalI(_irq_handler_ctx, EVENT_MASK(0));
|
|
}
|
|
}
|
|
}
|
|
|
|
#endif //HAL_WITH_UAVCAN
|