mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-31 10:26:52 +08:00
drivers/uavcan: make firmware server available on both CAN1/CAN2 always (if enabled)
- uavcan firmware server no longer shuts down when arming (nodes might restart in flight) - always handle UAVCAN parameters with or without the FW server active - remove legacy ESC enumeration in FW server
This commit is contained in:
Daniel Agar
GitHub
@@ -291,15 +291,9 @@ else
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# Start core UAVCAN module.
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if uavcan start
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then
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if param greater UAVCAN_ENABLE 1
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if param greater UAVCAN_ENABLE 2
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then
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# Start UAVCAN firmware update server and dynamic node ID allocation server.
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uavcan start fw
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if param greater UAVCAN_ENABLE 2
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then
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set OUTPUT_MODE uavcan_esc
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fi
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set OUTPUT_MODE uavcan_esc
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fi
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else
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tune_control play error
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+455
-272
File diff suppressed because it is too large
Load Diff
@@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (c) 2014 PX4 Development Team. All rights reserved.
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* Copyright (c) 2014-2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@@ -46,32 +46,37 @@
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#include <px4_platform_common/atomic.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include "beep.hpp"
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#include "rgbled.hpp"
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#include "safety_state.hpp"
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#include "uavcan_driver.hpp"
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#include "uavcan_servers.hpp"
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#include "allocator.hpp"
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#include "actuators/esc.hpp"
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#include "actuators/hardpoint.hpp"
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#include "actuators/servo.hpp"
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#include "allocator.hpp"
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#include "beep.hpp"
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#include "rgbled.hpp"
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#include "safety_state.hpp"
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#include "sensors/sensor_bridge.hpp"
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#include "uavcan_driver.hpp"
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#include "uavcan_servers.hpp"
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#include <lib/drivers/device/Device.hpp>
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#include <lib/mixer_module/mixer_module.hpp>
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#include <lib/perf/perf_counter.h>
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#include <uavcan/helpers/heap_based_pool_allocator.hpp>
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#include <uavcan/protocol/global_time_sync_master.hpp>
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#include <uavcan/protocol/global_time_sync_slave.hpp>
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#include <uavcan/protocol/node_info_retriever.hpp>
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#include <uavcan/protocol/node_status_monitor.hpp>
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#include <uavcan/protocol/param/GetSet.hpp>
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#include <uavcan/protocol/param/ExecuteOpcode.hpp>
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#include <uavcan/protocol/param/GetSet.hpp>
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#include <uavcan/protocol/RestartNode.hpp>
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#include <lib/drivers/device/device.h>
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#include <lib/mixer_module/mixer_module.hpp>
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#include <lib/perf/perf_counter.h>
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#include <uORB/Publication.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionInterval.hpp>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/uavcan_parameter_request.h>
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#include <uORB/topics/uavcan_parameter_value.h>
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#include <uORB/topics/vehicle_command_ack.h>
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using namespace time_literals;
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@@ -178,18 +183,15 @@ public:
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uavcan::Node<> &get_node() { return _node; }
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int teardown();
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void print_info();
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void shrink();
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void hardpoint_controller_set(uint8_t hardpoint_id, uint16_t command);
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static UavcanNode *instance() { return _instance; }
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static int getHardwareVersion(uavcan::protocol::HardwareVersion &hwver);
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int fw_server(eServerAction action);
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void attachITxQueueInjector(ITxQueueInjector *injector) {_tx_injector = injector;}
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void requestCheckAllNodesFirmwareAndUpdate() { _check_fw = true; }
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int list_params(int remote_node_id);
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int save_params(int remote_node_id);
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int set_param(int remote_node_id, const char *name, char *value);
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@@ -198,16 +200,11 @@ public:
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static void busevent_signal_trampoline();
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protected:
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void Run() override;
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private:
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void Run() override;
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void fill_node_info();
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int init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events);
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void node_spin_once();
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int start_fw_server();
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int stop_fw_server();
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int request_fw_check();
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int print_params(uavcan::protocol::param::GetSet::Response &resp);
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int get_set_param(int nodeid, const char *name, uavcan::protocol::param::GetSet::Request &req);
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@@ -219,10 +216,6 @@ private:
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void enable_idle_throttle_when_armed(bool value);
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px4::atomic_bool _task_should_exit{false}; ///< flag to indicate to tear down the CAN driver
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px4::atomic<int> _fw_server_action{None};
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int _fw_server_status{-1};
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bool _is_armed{false}; ///< the arming status of the actuators on the bus
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unsigned _output_count{0}; ///< number of actuators currently available
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@@ -232,30 +225,28 @@ private:
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uavcan::Node<> _node; ///< library instance
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pthread_mutex_t _node_mutex;
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px4_sem_t _server_command_sem;
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UavcanEscController _esc_controller;
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UavcanServoController _servo_controller;
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UavcanMixingInterfaceESC _mixing_interface_esc{_node_mutex, _esc_controller};
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UavcanMixingInterfaceServo _mixing_interface_servo{_node_mutex, _servo_controller};
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UavcanHardpointController _hardpoint_controller;
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UavcanBeep _beep_controller;
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UavcanSafetyState _safety_state_controller;
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UavcanRGBController _rgbled_controller;
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uavcan::GlobalTimeSyncMaster _time_sync_master;
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uavcan::GlobalTimeSyncSlave _time_sync_slave;
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uavcan::NodeStatusMonitor _node_status_monitor;
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List<IUavcanSensorBridge *> _sensor_bridges; ///< List of active sensor bridges
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uavcan::NodeInfoRetriever _node_info_retriever;
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ITxQueueInjector *_tx_injector{nullptr};
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List<IUavcanSensorBridge *> _sensor_bridges; ///< List of active sensor bridges
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bool _idle_throttle_when_armed{false};
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int32_t _idle_throttle_when_armed_param{0};
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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perf_counter_t _cycle_perf;
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perf_counter_t _interval_perf;
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perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")};
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perf_counter_t _interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": cycle interval")};
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void handle_time_sync(const uavcan::TimerEvent &);
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@@ -274,7 +265,58 @@ private:
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void (UavcanNode::*)(const uavcan::ServiceCallResult<uavcan::protocol::RestartNode> &)> RestartNodeCallback;
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void cb_setget(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &result);
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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uORB::Subscription _vcmd_sub{ORB_ID(vehicle_command)};
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uORB::Subscription _param_request_sub{ORB_ID(uavcan_parameter_request)};
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uORB::Publication<uavcan_parameter_value_s> _param_response_pub{ORB_ID(uavcan_parameter_value)};
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uORB::Publication<vehicle_command_ack_s> _command_ack_pub{ORB_ID(vehicle_command_ack)};
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/*
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* The MAVLink parameter bridge needs to know the maximum parameter index
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* of each node so that clients can determine when parameter listings have
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* finished. We do that by querying a node's entire parameter set whenever
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* a parameter message is received for a node with a zero _param_count,
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* and storing the count here. If a node doesn't respond, or doesn't have
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* any parameters, its count will stay at zero and we'll try to query the
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* set again next time.
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*
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* The node's UAVCAN ID is used as the index into the _param_counts array.
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*/
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uint8_t _param_counts[128] {};
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bool _count_in_progress{false};
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uint8_t _count_index{0};
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bool _param_in_progress{false};
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uint8_t _param_index{0};
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bool _param_list_in_progress{false};
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bool _param_list_all_nodes{false};
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uint8_t _param_list_node_id{1};
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uint32_t _param_dirty_bitmap[4] {};
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uint8_t _param_save_opcode{0};
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bool _cmd_in_progress{false};
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void cb_getset(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &result);
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void cb_count(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &result);
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void cb_opcode(const uavcan::ServiceCallResult<uavcan::protocol::param::ExecuteOpcode> &result);
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void cb_restart(const uavcan::ServiceCallResult<uavcan::protocol::RestartNode> &result);
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uavcan::ServiceClient<uavcan::protocol::param::GetSet, GetSetCallback> _param_getset_client;
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uavcan::ServiceClient<uavcan::protocol::param::ExecuteOpcode, ExecuteOpcodeCallback> _param_opcode_client;
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uavcan::ServiceClient<uavcan::protocol::RestartNode, RestartNodeCallback> _param_restartnode_client;
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void param_count(uavcan::NodeID node_id);
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void param_opcode(uavcan::NodeID node_id);
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uint8_t get_next_active_node_id(uint8_t base);
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uint8_t get_next_dirty_node_id(uint8_t base);
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void set_node_params_dirty(uint8_t node_id) { _param_dirty_bitmap[node_id >> 5] |= 1 << (node_id & 31); }
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void clear_node_params_dirty(uint8_t node_id) { _param_dirty_bitmap[node_id >> 5] &= ~(1 << (node_id & 31)); }
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bool are_node_params_dirty(uint8_t node_id) const { return bool((_param_dirty_bitmap[node_id >> 5] >> (node_id & 31)) & 1); }
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bool _check_fw{false};
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UavcanServers *_servers{nullptr};
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};
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@@ -66,18 +66,6 @@
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// ioctl interface
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#define _UAVCAN_IOC(_n) (_IOC(_UAVCAN_IOCBASE, _n))
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#define _UAVCAN_IOCBASE (0x4000) // IOCTL base for module UAVCAN
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/*
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* Query if node identification is in progress. Returns:
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* EINVAL - not applicable in the current operating mode
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* ETIME - network discovery complete
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* OK (0) - network discovery in progress
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*/
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#define UAVCAN_IOCG_NODEID_INPROGRESS _UAVCAN_IOC(1)
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/*
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* Set hardpoint command. Accepts a pointer to uavcan::equipment::hardpoint::Command; returns nothing.
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* The pointer may be invalidated once the call returns.
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*/
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#define UAVCAN_IOCS_HARDPOINT_SET _UAVCAN_IOC(10)
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// public prototypes
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extern "C" __EXPORT int uavcan_main(int argc, char *argv[]);
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File diff suppressed because it is too large
Load Diff
@@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (c) 2014 PX4 Development Team. All rights reserved.
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* Copyright (c) 2014-2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@@ -34,33 +34,18 @@
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#pragma once
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#include <px4_platform_common/px4_config.h>
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#include "uavcan_driver.hpp"
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#include <drivers/device/Device.hpp>
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#include <lib/perf/perf_counter.h>
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#include <uORB/Publication.hpp>
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#include <uORB/topics/uavcan_parameter_value.h>
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#include <uORB/topics/vehicle_command_ack.h>
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#include <uavcan/node/sub_node.hpp>
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#include <uavcan/protocol/node_status_monitor.hpp>
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#include <uavcan/protocol/param/GetSet.hpp>
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#include <uavcan/protocol/param/ExecuteOpcode.hpp>
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#include <uavcan/protocol/dynamic_node_id_server/centralized.hpp>
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#include <uavcan/protocol/node_info_retriever.hpp>
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#include <uavcan_posix/basic_file_server_backend.hpp>
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#include <uavcan/protocol/firmware_update_trigger.hpp>
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#include <uavcan/protocol/file_server.hpp>
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#include <uavcan/protocol/firmware_update_trigger.hpp>
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#include <uavcan/protocol/node_info_retriever.hpp>
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#include <uavcan/protocol/node_status_monitor.hpp>
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#include <uavcan_posix/basic_file_server_backend.hpp>
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#include <uavcan_posix/dynamic_node_id_server/file_event_tracer.hpp>
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#include <uavcan_posix/dynamic_node_id_server/file_storage_backend.hpp>
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#include <uavcan_posix/firmware_version_checker.hpp>
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#include <uavcan/equipment/esc/RawCommand.hpp>
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#include <uavcan/equipment/indication/BeepCommand.hpp>
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#include <uavcan/protocol/enumeration/Begin.hpp>
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#include <uavcan/protocol/enumeration/Indication.hpp>
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#include "uavcan_module.hpp"
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#include "uavcan_virtual_can_driver.hpp"
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/**
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* @file uavcan_servers.hpp
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@@ -74,152 +59,29 @@
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/**
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* A UAVCAN Server Sub node.
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*/
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class __EXPORT UavcanServers
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class UavcanServers
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{
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static constexpr unsigned NumIfaces = 1; // UAVCAN_STM32_NUM_IFACES
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static constexpr unsigned StackSize = 6000;
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static constexpr unsigned Priority = 120;
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static constexpr unsigned VirtualIfaceBlockAllocationQuota = 80;
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static constexpr float BeepFrequencyGenericIndication = 1000.0F;
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static constexpr float BeepFrequencySuccess = 2000.0F;
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static constexpr float BeepFrequencyError = 100.0F;
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public:
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UavcanServers(uavcan::INode &main_node);
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UavcanServers(uavcan::INode &node, uavcan::NodeInfoRetriever &node_info_retriever);
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~UavcanServers() = default;
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virtual ~UavcanServers();
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static int start(uavcan::INode &main_node);
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static int stop();
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uavcan::SubNode<> &get_node() { return _subnode; }
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static UavcanServers *instance() { return _instance; }
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/*
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* Set the main node's pointer to to the injector
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* This is a work around as main_node.getDispatcher().remeveRxFrameListener();
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* would require a dynamic cast and rtti is not enabled.
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*/
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void attachITxQueueInjector(ITxQueueInjector **injector) {*injector = &_vdriver;}
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void requestCheckAllNodesFirmwareAndUpdate() { _check_fw = true; }
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int init();
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bool guessIfAllDynamicNodesAreAllocated() { return _server_instance.guessIfAllDynamicNodesAreAllocated(); }
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private:
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pthread_t _subnode_thread{-1};
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pthread_mutex_t _subnode_mutex{};
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px4::atomic_bool _subnode_thread_should_exit{false};
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int init();
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pthread_addr_t run(pthread_addr_t);
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static UavcanServers *_instance; ///< singleton pointer
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VirtualCanDriver _vdriver;
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uavcan::SubNode<> _subnode;
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uavcan::INode &_main_node;
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void unpackFwFromROMFS(const char *sd_path, const char *romfs_path);
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void migrateFWFromRoot(const char *sd_path, const char *sd_root_path);
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int copyFw(const char *dst, const char *src);
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uavcan_posix::dynamic_node_id_server::FileEventTracer _tracer;
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uavcan_posix::dynamic_node_id_server::FileStorageBackend _storage_backend;
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uavcan_posix::FirmwareVersionChecker _fw_version_checker;
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uavcan::dynamic_node_id_server::CentralizedServer _server_instance; ///< server singleton pointer
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uavcan_posix::BasicFileServerBackend _fileserver_backend;
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uavcan::NodeInfoRetriever _node_info_retriever;
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uavcan::FirmwareUpdateTrigger _fw_upgrade_trigger;
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uavcan::BasicFileServer _fw_server;
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uavcan_posix::BasicFileServerBackend _fileserver_backend;
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uavcan::FirmwareUpdateTrigger _fw_upgrade_trigger;
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uavcan::BasicFileServer _fw_server;
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/*
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* The MAVLink parameter bridge needs to know the maximum parameter index
|
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* of each node so that clients can determine when parameter listings have
|
||||
* finished. We do that by querying a node's entire parameter set whenever
|
||||
* a parameter message is received for a node with a zero _param_count,
|
||||
* and storing the count here. If a node doesn't respond, or doesn't have
|
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* any parameters, its count will stay at zero and we'll try to query the
|
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* set again next time.
|
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*
|
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* The node's UAVCAN ID is used as the index into the _param_counts array.
|
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*/
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uint8_t _param_counts[128] = {};
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bool _count_in_progress = false;
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uint8_t _count_index = 0;
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bool _param_in_progress = false;
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uint8_t _param_index = 0;
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bool _param_list_in_progress = false;
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bool _param_list_all_nodes = false;
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uint8_t _param_list_node_id = 1;
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uint32_t _param_dirty_bitmap[4] = {};
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uint8_t _param_save_opcode = 0;
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|
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bool _cmd_in_progress = false;
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// uORB topic handle for MAVLink parameter responses
|
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uORB::Publication<uavcan_parameter_value_s> _param_response_pub{ORB_ID(uavcan_parameter_value)};
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uORB::Publication<vehicle_command_ack_s> _command_ack_pub{ORB_ID(vehicle_command_ack)};
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typedef uavcan::MethodBinder<UavcanServers *,
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void (UavcanServers::*)(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &)> GetSetCallback;
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typedef uavcan::MethodBinder<UavcanServers *,
|
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void (UavcanServers::*)(const uavcan::ServiceCallResult<uavcan::protocol::param::ExecuteOpcode> &)>
|
||||
ExecuteOpcodeCallback;
|
||||
typedef uavcan::MethodBinder<UavcanServers *,
|
||||
void (UavcanServers::*)(const uavcan::ServiceCallResult<uavcan::protocol::RestartNode> &)> RestartNodeCallback;
|
||||
|
||||
void cb_getset(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &result);
|
||||
void cb_count(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &result);
|
||||
void cb_opcode(const uavcan::ServiceCallResult<uavcan::protocol::param::ExecuteOpcode> &result);
|
||||
void cb_restart(const uavcan::ServiceCallResult<uavcan::protocol::RestartNode> &result);
|
||||
|
||||
uavcan::ServiceClient<uavcan::protocol::param::GetSet, GetSetCallback> _param_getset_client;
|
||||
uavcan::ServiceClient<uavcan::protocol::param::ExecuteOpcode, ExecuteOpcodeCallback> _param_opcode_client;
|
||||
uavcan::ServiceClient<uavcan::protocol::RestartNode, RestartNodeCallback> _param_restartnode_client;
|
||||
void param_count(uavcan::NodeID node_id);
|
||||
void param_opcode(uavcan::NodeID node_id);
|
||||
|
||||
uint8_t get_next_active_node_id(uint8_t base);
|
||||
uint8_t get_next_dirty_node_id(uint8_t base);
|
||||
void set_node_params_dirty(uint8_t node_id) { _param_dirty_bitmap[node_id >> 5] |= 1 << (node_id & 31); }
|
||||
void clear_node_params_dirty(uint8_t node_id) { _param_dirty_bitmap[node_id >> 5] &= ~(1 << (node_id & 31)); }
|
||||
bool are_node_params_dirty(uint8_t node_id) const { return bool((_param_dirty_bitmap[node_id >> 5] >> (node_id & 31)) & 1); }
|
||||
|
||||
void beep(float frequency);
|
||||
|
||||
bool _mutex_inited = false;
|
||||
volatile bool _check_fw = false;
|
||||
|
||||
// ESC enumeration
|
||||
bool _esc_enumeration_active = false;
|
||||
uint8_t _esc_enumeration_ids[uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize];
|
||||
uint8_t _esc_enumeration_index = 0;
|
||||
uint8_t _esc_count = 0;
|
||||
|
||||
typedef uavcan::MethodBinder<UavcanServers *,
|
||||
void (UavcanServers::*)(const uavcan::ServiceCallResult<uavcan::protocol::enumeration::Begin> &)>
|
||||
EnumerationBeginCallback;
|
||||
typedef uavcan::MethodBinder<UavcanServers *,
|
||||
void (UavcanServers::*)(const uavcan::ReceivedDataStructure<uavcan::protocol::enumeration::Indication>&)>
|
||||
EnumerationIndicationCallback;
|
||||
void cb_enumeration_begin(const uavcan::ServiceCallResult<uavcan::protocol::enumeration::Begin> &result);
|
||||
void cb_enumeration_indication(const uavcan::ReceivedDataStructure<uavcan::protocol::enumeration::Indication> &msg);
|
||||
void cb_enumeration_getset(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &result);
|
||||
void cb_enumeration_save(const uavcan::ServiceCallResult<uavcan::protocol::param::ExecuteOpcode> &result);
|
||||
|
||||
uavcan::Publisher<uavcan::equipment::indication::BeepCommand> _beep_pub;
|
||||
uavcan::Subscriber<uavcan::protocol::enumeration::Indication, EnumerationIndicationCallback>
|
||||
_enumeration_indication_sub;
|
||||
uavcan::ServiceClient<uavcan::protocol::enumeration::Begin, EnumerationBeginCallback> _enumeration_client;
|
||||
uavcan::ServiceClient<uavcan::protocol::param::GetSet, GetSetCallback> _enumeration_getset_client;
|
||||
uavcan::ServiceClient<uavcan::protocol::param::ExecuteOpcode, ExecuteOpcodeCallback> _enumeration_save_client;
|
||||
|
||||
void unpackFwFromROMFS(const char *sd_path, const char *romfs_path);
|
||||
void migrateFWFromRoot(const char *sd_path, const char *sd_root_path);
|
||||
int copyFw(const char *dst, const char *src);
|
||||
uavcan::NodeInfoRetriever &_node_info_retriever;
|
||||
};
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user