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AP_Bootloader: add support for HAL CANIface based bootloader

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This commit is contained in:
Siddharth Purohit 2020-08-28 02:44:49 +05:30 committed by Peter Barker
parent 882c86c394
commit 4bfd3c0782
3 changed files with 70 additions and 7 deletions
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4
Tools/AP_Bootloader/AP_Bootloader.cpp
View File

@ -79,7 +79,7 @@ int main(void)
try_boot = true;
timeout = 0;
}
#if HAL_USE_CAN == TRUE
#if HAL_USE_CAN == TRUE || HAL_NUM_CAN_IFACES
else if ((m & 0xFFFFFF00) == RTC_BOOT_CANBL) {
try_boot = false;
timeout = 10000;
@ -125,7 +125,7 @@ int main(void)
#if defined(BOOTLOADER_DEV_LIST)
init_uarts();
#endif
#if HAL_USE_CAN == TRUE
#if HAL_USE_CAN == TRUE || HAL_NUM_CAN_IFACES
can_start();
#endif
flash_init();

4
Tools/AP_Bootloader/bl_protocol.cpp
View File

@ -233,7 +233,7 @@ jump_to_app()
return;
}
#if HAL_USE_CAN == TRUE
#if HAL_USE_CAN == TRUE || HAL_NUM_CAN_IFACES
// for CAN firmware we start the watchdog before we run the
// application code, to ensure we catch a bad firmare. If we get a
// watchdog reset and the firmware hasn't changed the RTC flag to
@ -481,7 +481,7 @@ bootloader(unsigned timeout)
/* try to get a byte from the host */
c = cin(0);
#if HAL_USE_CAN == TRUE
#if HAL_USE_CAN == TRUE || HAL_NUM_CAN_IFACES
if (c < 0) {
can_update();
}

69
Tools/AP_Bootloader/can.cpp
View File

@ -17,7 +17,7 @@
*/
#include <AP_HAL/AP_HAL.h>
#if HAL_USE_CAN == TRUE
#if HAL_USE_CAN == TRUE || HAL_NUM_CAN_IFACES
#include <AP_Math/AP_Math.h>
#include <AP_Math/crc.h>
#include <canard.h>
@ -35,6 +35,7 @@
#include "app_comms.h"
#include <AP_HAL_ChibiOS/hwdef/common/watchdog.h>
#include <stdio.h>
#include <AP_HAL_ChibiOS/CANIface.h>
static CanardInstance canard;
@ -47,10 +48,14 @@ static uint8_t initial_node_id = HAL_CAN_DEFAULT_NODE_ID;
// can config for 1MBit
static uint32_t baudrate = 1000000U;
#if HAL_USE_CAN
static CANConfig cancfg = {
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
0 // filled in below
};
#else
static ChibiOS::CANIface can_iface(0);
#endif
#ifndef CAN_APP_VERSION_MAJOR
#define CAN_APP_VERSION_MAJOR 1
@ -425,6 +430,7 @@ static bool shouldAcceptTransfer(const CanardInstance* ins,
return false;
}
#if HAL_USE_CAN
static void processTx(void)
{
static uint8_t fail_count;
@ -457,8 +463,9 @@ static void processRx(void)
while (canReceive(&CAND1, CAN_ANY_MAILBOX, &rxmsg, TIME_IMMEDIATE) == MSG_OK) {
CanardCANFrame rx_frame {};
#ifdef HAL_GPIO_PIN_LED_BOOTLOADER
palToggleLine(HAL_GPIO_PIN_LED_BOOTLOADER);
#endif
const uint64_t timestamp = AP_HAL::micros64();
memcpy(rx_frame.data, rxmsg.data8, 8);
rx_frame.data_len = rxmsg.DLC;
@ -470,6 +477,59 @@ static void processRx(void)
canardHandleRxFrame(&canard, &rx_frame, timestamp);
}
}
#else
// Use HAL CAN interface
static void processTx(void)
{
static uint8_t fail_count;
for (const CanardCANFrame* txf = NULL; (txf = canardPeekTxQueue(&canard)) != NULL;) {
AP_HAL::CANFrame txmsg {};
txmsg.dlc = txf->data_len;
memcpy(txmsg.data, txf->data, 8);
txmsg.id = (txf->id | AP_HAL::CANFrame::FlagEFF);
// push message with 1s timeout
if (can_iface.send(txmsg, AP_HAL::micros64() + 1000000, 0) > 0) {
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 void processRx(void)
{
AP_HAL::CANFrame rxmsg;
while (true) {
bool read_select = true;
bool write_select = false;
can_iface.select(read_select, write_select, nullptr, 0);
if (!read_select) {
break;
}
#ifdef HAL_GPIO_PIN_LED_BOOTLOADER
palToggleLine(HAL_GPIO_PIN_LED_BOOTLOADER);
#endif
CanardCANFrame rx_frame {};
//palToggleLine(HAL_GPIO_PIN_LED);
uint64_t timestamp;
AP_HAL::CANIface::CanIOFlags flags;
can_iface.receive(rxmsg, timestamp, flags);
memcpy(rx_frame.data, rxmsg.data, 8);
rx_frame.data_len = rxmsg.dlc;
rx_frame.id = rxmsg.id;
canardHandleRxFrame(&canard, &rx_frame, timestamp);
}
}
#endif //#if HAL_USE_CAN
/*
handle waiting for a node ID
@ -630,6 +690,7 @@ void can_start()
{
node_status.mode = UAVCAN_PROTOCOL_NODESTATUS_MODE_MAINTENANCE;
#if HAL_USE_CAN
// calculate optimal CAN timings given PCLK1 and baudrate
CanardSTM32CANTimings timings {};
canardSTM32ComputeCANTimings(STM32_PCLK1, baudrate, &timings);
@ -638,7 +699,9 @@ void can_start()
CAN_BTR_TS1(timings.bit_segment_1-1) |
CAN_BTR_BRP(timings.bit_rate_prescaler-1);
canStart(&CAND1, &cancfg);
#else
can_iface.init(baudrate, AP_HAL::CANIface::NormalMode);
#endif
canardInit(&canard, (uint8_t *)canard_memory_pool, sizeof(canard_memory_pool),
onTransferReceived, shouldAcceptTransfer, NULL);