Uavcan update (#3424)

* [uavcan] Start updating UAVCAN to latest version.
Now renamed DroneCAN.

* [uavcan] Update airspeed.

* [uavcan] Update power.

* [uavcan] Update range sensor.

* [uavcan] WIP actuators.

* [dronecan] Fix makefile for new installations

- The Makefile doesn't execute the .sync .update when added to the .PHONY section
- The DSDL folder doesn't exist before the .sync .update of the DSDL

* [can] Add documentation for USE_CANx define and fix dronecan

* [dronecan] Update actuators

* [dronecan] Cleanup actuator feedback

---------

Co-authored-by: Fabien-B <Fabien-B@github.com>
Co-authored-by: Freek van Tienen <freek.v.tienen@gmail.com>

.gitmodules

@@ -50,6 +50,15 @@
 [submodule "sw/ext/matrix"]
 	path = sw/ext/matrix
 	url = https://github.com/PX4/Matrix.git
-[submodule "sw/ext/libcanard"]
+[submodule "sw/ext/dronecan/DSDL"]
-	path = sw/ext/libcanard
+	path = sw/ext/dronecan/DSDL
-	url = https://github.com/UAVCAN/libcanard.git
+	url = https://github.com/dronecan/DSDL.git
+[submodule "sw/ext/dronecan/dronecan_dsdlc"]
+	path = sw/ext/dronecan/dronecan_dsdlc
+	url = https://github.com/dronecan/dronecan_dsdlc.git
+[submodule "sw/ext/dronecan/pydronecan"]
+	path = sw/ext/dronecan/pydronecan
+	url = https://github.com/dronecan/pydronecan.git
+[submodule "sw/ext/dronecan/libcanard"]
+	path = sw/ext/dronecan/libcanard
+	url = https://github.com/dronecan/libcanard.git

conf/modules/actuators_uavcan.xml

@@ -17,6 +17,14 @@
   <makefile target="ap">
     <file name="actuators_uavcan.c"/>
     <file name="pprz_random.c" dir="math"/>
+
+    <!-- Load DSDL generated files-->
+    <include name="$(PAPARAZZI_HOME)/var/include/DSDLcode/include"/>
+    <file name="uavcan.equipment.esc.Status.c" dir="$(PAPARAZZI_HOME)/var/include/DSDLcode/src"/>
+    <file name="uavcan.equipment.esc.RawCommand.c" dir="$(PAPARAZZI_HOME)/var/include/DSDLcode/src"/>
+    <file name="uavcan.equipment.actuator.Status.c" dir="$(PAPARAZZI_HOME)/var/include/DSDLcode/src"/>
+    <file name="uavcan.equipment.actuator.ArrayCommand.c" dir="$(PAPARAZZI_HOME)/var/include/DSDLcode/src"/>
+    <file name="uavcan.equipment.device.Temperature.c" dir="$(PAPARAZZI_HOME)/var/include/DSDLcode/src"/>
   </makefile>
 </module>
 

conf/modules/airspeed_uavcan.xml

@@ -30,5 +30,9 @@
   <init fun="airspeed_uavcan_init()"/>
   <makefile target="ap">
     <file name="airspeed_uavcan.c"/>
+
+    <!-- Load DSDL generated files-->
+    <include name="$(PAPARAZZI_HOME)/var/include/DSDLcode/include"/>
+    <file name="uavcan.equipment.air_data.RawAirData.c" dir="$(PAPARAZZI_HOME)/var/include/DSDLcode/src"/>
   </makefile>
 </module>

conf/modules/can.xml

@@ -7,6 +7,7 @@
       To activate a specific CAN peripheral, define flag USE_CANx where x is your CAN peripheral number
     </description>
     <configure name="USE_CANFD" value="TRUE" description="Use CANFD or just CAN"/>
+    <define name="USE_CANx" value="FALSE" description="Enable the CANx port"/>
   </doc>
   <dep>
     <depends>mcu</depends>

conf/modules/power_uavcan.xml

@@ -23,5 +23,11 @@
   <init fun="power_uavcan_init()"/>
   <makefile target="ap">
     <file name="power_uavcan.c"/>
+    <file name="pprz_random.c" dir="math"/>
+
+    <!-- Load DSDL generated files-->
+    <include name="$(PAPARAZZI_HOME)/var/include/DSDLcode/include"/>
+    <file name="uavcan.equipment.power.BatteryInfo.c" dir="$(PAPARAZZI_HOME)/var/include/DSDLcode/src"/>
+    <file name="uavcan.equipment.power.CircuitStatus.c" dir="$(PAPARAZZI_HOME)/var/include/DSDLcode/src"/>
   </makefile>
 </module>

conf/modules/range_sensor_uavcan.xml

@@ -16,5 +16,9 @@
   <init fun="range_sensor_uavcan_init()"/>
   <makefile target="ap">
     <file name="range_sensor_uavcan.c"/>
+
+    <!-- Load DSDL generated files-->
+    <include name="$(PAPARAZZI_HOME)/var/include/DSDLcode/include"/>
+    <file name="uavcan.equipment.range_sensor.Measurement.c" dir="$(PAPARAZZI_HOME)/var/include/DSDLcode/src"/>
   </makefile>
 </module>

conf/modules/uavcan.xml

@@ -16,14 +16,22 @@
   <init fun="uavcan_init()"/>
   <makefile target="ap">
     <!-- Enable the CAN busses if needed -->
+    <configure name="UAVCAN_USE_CAN1" default="FALSE"/>
+    <configure name="UAVCAN_USE_CAN2" default="FALSE"/>
     <define name="USE_CAN1" cond="ifeq ($(UAVCAN_USE_CAN1), TRUE)"/>
     <define name="USE_CAN2" cond="ifeq ($(UAVCAN_USE_CAN2), TRUE)"/>
     <define name="UAVCAN_USE_CAN1" value="$(UAVCAN_USE_CAN1)"/>
     <define name="UAVCAN_USE_CAN2" value="$(UAVCAN_USE_CAN2)"/>
 
     <!-- Load canard -->
-    <include name="$(PAPARAZZI_SRC)/sw/ext/libcanard"/>
+    <include name="$(PAPARAZZI_SRC)/sw/ext/dronecan/libcanard"/>
-    <file name="canard.c" dir="$(PAPARAZZI_SRC)/sw/ext/libcanard"/>
+    <file name="canard.c" dir="$(PAPARAZZI_SRC)/sw/ext/dronecan/libcanard"/>
+
+    <!-- Load DSDL generated files-->
+    <include name="$(PAPARAZZI_HOME)/var/include/DSDLcode/include"/>
+    <file name="uavcan.protocol.NodeStatus.c" dir="$(PAPARAZZI_HOME)/var/include/DSDLcode/src"/>
+    <file name="uavcan.protocol.GetNodeInfo_req.c" dir="$(PAPARAZZI_HOME)/var/include/DSDLcode/src"/>
+    <file name="uavcan.protocol.GetNodeInfo_res.c" dir="$(PAPARAZZI_HOME)/var/include/DSDLcode/src"/>
 
     <!-- Load uavcan itself -->
     <file_arch name="uavcan.c" dir="modules/uavcan"/>

requirements.txt

@@ -9,3 +9,6 @@ pyqtgraph
 unidecode
 matplotlib
 distro
+empy==3.3.4
+pexpect
+

sw/airborne/arch/chibios/modules/uavcan/uavcan.c

@@ -88,6 +88,11 @@ struct uavcan_iface_t uavcan2 = {
 };
 #endif
 
+/*
+ * REMOVE ME - This is only here because the can driver is not yet used
+ */
+void can_init(void) { }
+
 /*
  * Receiver thread.
  */

sw/airborne/modules/actuators/actuators_uavcan.c

@@ -30,6 +30,13 @@
 #include "modules/core/abi.h"
 #include "modules/actuators/actuators.h"
 
+
+#include "uavcan.equipment.esc.Status.h"
+#include "uavcan.equipment.esc.RawCommand.h"
+#include "uavcan.equipment.actuator.Status.h"
+#include "uavcan.equipment.actuator.ArrayCommand.h"
+#include "uavcan.equipment.device.Temperature.h"
+
 /* By default enable the usage of the current sensing in the ESC telemetry */
 #ifndef UAVCAN_ACTUATORS_USE_CURRENT
 #define UAVCAN_ACTUATORS_USE_CURRENT TRUE
@@ -83,31 +90,6 @@ static struct actuators_uavcan_telem_t uavcan2_telem[SERVOS_UAVCAN2_NB] = {0};
 /* UNUSED value for CMD */
 #define UAVCAN_CMD_UNUSED (MIN_PPRZ-1)
 
-/* uavcan EQUIPMENT_ESC_STATUS message definition */
-#define UAVCAN_EQUIPMENT_ESC_STATUS_ID                     1034
-#define UAVCAN_EQUIPMENT_ESC_STATUS_SIGNATURE              (0xA9AF28AEA2FBB254ULL)
-#define UAVCAN_EQUIPMENT_ESC_STATUS_MAX_SIZE               ((110 + 7)/8)
-
-/* uavcan EQUIPMENT_ESC_RAWCOMMAND message definition */
-#define UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_ID                 1030
-#define UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_SIGNATURE          (0x217F5C87D7EC951DULL)
-#define UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_MAX_SIZE           ((285 + 7)/8)
-
-/* uavcan EQUIPMENT_ACTUATOR_STATUS message definition */
-#define UAVCAN_EQUIPMENT_ACTUATOR_STATUS_ID                1011
-#define UAVCAN_EQUIPMENT_ACTUATOR_STATUS_SIGNATURE         (0x5E9BBA44FAF1EA04ULL)
-#define UAVCAN_EQUIPMENT_ACTUATOR_STATUS_MAX_SIZE          ((64 + 7)/8)
-
-/* uavcan EQUIPMENT_ACTUATOR_ARRAYCOMMAND message definition */
-#define UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_ID          1010
-#define UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_SIGNATURE   (0xD8A7486238EC3AF3ULL)
-#define UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_MAX_SIZE    ((484 + 7)/8)
-
-/* uavcan EQUIMPENT_DEVICE_TEMPERATURE message definition */
-#define UAVCAN_EQUIPMENT_DEVICE_TEMPERATURE_ID             1110
-#define UAVCAN_EQUIPMENT_DEVICE_TEMPERATURE_SIGNATURE      (0x70261C28A94144C6ULL)
-#define UAVCAN_EQUIPMENT_DEVICE_TEMPERATURE_MAX_SIZE       ((40 + 7)/8)
-
 /* private variables */
 static bool actuators_uavcan_initialized = false;
 static uavcan_event esc_status_ev;
@@ -179,53 +161,101 @@ static void actuators_uavcan_send_esc(struct transport_tx *trans, struct link_de
 }
 #endif
 
+static struct actuators_uavcan_telem_t *get_actuator_telem(struct uavcan_iface_t *iface, uint8_t idx) {
+  struct actuators_uavcan_telem_t *telem = NULL;
+
+#ifdef UAVCAN1_TELEM_NB
+  if (iface == &uavcan1 && idx < UAVCAN1_TELEM_NB) {
+    telem = &uavcan1_telem[idx];
+  }
+#endif
+#ifdef UAVCAN2_TELEM_NB
+  if (iface == &uavcan2 && idx < UAVCAN2_TELEM_NB) {
+    telem = &uavcan2_telem[idx];
+  }
+#endif
+
+  return telem;
+}
+
+static uint8_t get_actuator_idx(struct uavcan_iface_t *iface, uint8_t idx) {
+  uint8_t actuator_idx = 255;
+
+#ifdef UAVCAN1_TELEM_NB
+  if(iface == &uavcan1) {
+#ifdef SERVOS_UAVCAN1_NB
+    // First try as RAW COMMAND
+    actuator_idx = get_servo_idx_UAVCAN1(idx);
+#endif
+#ifdef SERVOS_UAVCAN1CMD_NB
+    // Then try as ACTUATOR COMMAND
+    if(idx < SERVOS_UAVCAN1CMD_NB && actuators_uavcan1cmd_values[idx] != UAVCAN_CMD_UNUSED) {
+      actuator_idx = get_servo_idx_UAVCAN1CMD(idx);
+    }
+#endif
+  }
+#endif
+#ifdef UAVCAN2_TELEM_NB
+  if(iface == &uavcan2) {
+#ifdef SERVOS_UAVCAN2_NB
+    // First try as RAW COMMAND
+    actuator_idx = get_servo_idx_UAVCAN2(idx);
+#endif
+#ifdef SERVOS_UAVCAN2CMD_NB
+    // Then try as ACTUATOR COMMAND
+    if(idx < SERVOS_UAVCAN2CMD_NB && actuators_uavcan2cmd_values[idx] != UAVCAN_CMD_UNUSED) {
+      actuator_idx = get_servo_idx_UAVCAN2CMD(idx);
+    }
+#endif
+  }
+#endif
+
+  return actuator_idx;
+}
+
 /**
  * Whevener an ESC_STATUS message from the EQUIPMENT group is received
  */
 static void actuators_uavcan_esc_status_cb(struct uavcan_iface_t *iface, CanardRxTransfer *transfer)
 {
-  uint8_t esc_idx;
+  // Decode the message
-  uint16_t tmp_float;
+  struct uavcan_equipment_esc_Status msg;
-
+  if(uavcan_equipment_esc_Status_decode(transfer, &msg)) {
-  struct actuators_uavcan_telem_t *telem = NULL;
+    return; // Decoding error
-  uint8_t max_id = 0;
-#ifdef UAVCAN1_TELEM_NB
-  if (iface == &uavcan1) {
-    telem = uavcan1_telem;
-    max_id = UAVCAN1_TELEM_NB;
   }
-#endif
-#ifdef UAVCAN2_TELEM_NB
-  if (iface == &uavcan2) {
-    telem = uavcan2_telem;
-    max_id = UAVCAN2_TELEM_NB;
-  }
-#endif
 
-  canardDecodeScalar(transfer, 105, 5, false, (void *)&esc_idx);
+  // Get the correct telemetry
-  //Could not find the right interface
+  struct actuators_uavcan_telem_t *telem = get_actuator_telem(iface, msg.esc_index);
-  if (esc_idx >= max_id || telem == NULL || max_id == 0) {
+  if(telem == NULL) {
     return;
   }
-  telem[esc_idx].set = true;
+
-  telem[esc_idx].node_id = transfer->source_node_id;
+  // Set the telemetry (FIXME: copy over fully)
-  telem[esc_idx].timestamp = get_sys_time_float();
+  telem->set = true;
-  canardDecodeScalar(transfer, 0, 32, false, (void *)&telem[esc_idx].energy);
+  telem->node_id = transfer->source_node_id;
-  canardDecodeScalar(transfer, 32, 16, true, (void *)&tmp_float);
+  telem->timestamp = get_sys_time_float();
-  telem[esc_idx].voltage = canardConvertFloat16ToNativeFloat(tmp_float);
+  telem->energy = msg.error_count;
-  canardDecodeScalar(transfer, 48, 16, true, (void *)&tmp_float);
+  telem->voltage = msg.voltage;
-  telem[esc_idx].current = canardConvertFloat16ToNativeFloat(tmp_float);
+  telem->current = msg.current;
-  canardDecodeScalar(transfer, 64, 16, true, (void *)&tmp_float);
+  telem->temperature = msg.temperature;
-  telem[esc_idx].temperature = canardConvertFloat16ToNativeFloat(tmp_float);
+  telem->rpm = msg.rpm;
-  canardDecodeScalar(transfer, 80, 18, true, (void *)&telem[esc_idx].rpm);
 
   /* Specification says Kelvin, but some are transmitting in Celsius */
-  if (telem[esc_idx].temperature > 230.f) {
+  if (telem->temperature > 230.f) {
-    telem[esc_idx].temperature -= 273.15;
+    telem->temperature -= 273.15;
   }
 
+  // Feedback ABI RPM messages
+  struct act_feedback_t feedback = {0};
+  feedback.idx = get_actuator_idx(iface, msg.esc_index);
+  feedback.rpm = telem->rpm;
+  feedback.set.rpm = true;
+
+  // Send ABI message
+  AbiSendMsgACT_FEEDBACK(ACT_FEEDBACK_UAVCAN_ID, &feedback, 1);
+
 #if UAVCAN_ACTUATORS_USE_CURRENT
-  // Update total current
+  // Update total current based on ESC telemetry
   electrical.current = 0;
 #ifdef UAVCAN1_TELEM_NB
   for (uint8_t i = 0; i < UAVCAN1_TELEM_NB; ++i) {
@@ -237,46 +267,6 @@ static void actuators_uavcan_esc_status_cb(struct uavcan_iface_t *iface, CanardR
     electrical.current += uavcan2_telem[i].current;
   }
 #endif
-#endif
-
-  // Feedback ABI RPM messages
-#ifdef UAVCAN1_TELEM_NB
-  if (iface == &uavcan1) {
-    struct act_feedback_t feedback = {0};
-    feedback.rpm = telem[esc_idx].rpm;
-    feedback.set.rpm = true;
-
-#ifdef SERVOS_UAVCAN1_NB
-    feedback.idx = get_servo_idx_UAVCAN1(esc_idx);
-#endif
-#ifdef SERVOS_UAVCAN1CMD_NB
-    if(esc_idx < SERVOS_UAVCAN1CMD_NB && actuators_uavcan1cmd_values[esc_idx] != UAVCAN_CMD_UNUSED) {
-      feedback.idx = get_servo_idx_UAVCAN1CMD(esc_idx);
-    }
-#endif
-
-    // Send ABI message
-    AbiSendMsgACT_FEEDBACK(ACT_FEEDBACK_UAVCAN_ID, &feedback, 1);
-  }
-#endif
-#ifdef UAVCAN2_TELEM_NB
-  if (iface == &uavcan2) {
-    struct act_feedback_t feedback = {0};
-    feedback.rpm = telem[esc_idx].rpm;
-    feedback.set.rpm = true;
-
-#ifdef SERVOS_UAVCAN2_NB
-    feedback.idx = get_servo_idx_UAVCAN2(esc_idx);
-#endif
-#ifdef SERVOS_UAVCAN2CMD_NB
-    if(esc_idx < SERVOS_UAVCAN2CMD_NB && actuators_uavcan2cmd_values[esc_idx] != UAVCAN_CMD_UNUSED) {
-      feedback.idx = get_servo_idx_UAVCAN2CMD(esc_idx);
-    }
-#endif
-
-    // Send ABI message
-    AbiSendMsgACT_FEEDBACK(ACT_FEEDBACK_UAVCAN_ID, &feedback, 1);
-  }
 #endif
 }
 
@@ -285,73 +275,29 @@ static void actuators_uavcan_esc_status_cb(struct uavcan_iface_t *iface, CanardR
  */
 static void actuators_uavcan_actuator_status_cb(struct uavcan_iface_t *iface, CanardRxTransfer *transfer)
 {
-  uint8_t actuator_idx;
+  // Decode the message
-  uint16_t tmp_float;
+  struct uavcan_equipment_actuator_Status msg;
-
+  if(uavcan_equipment_actuator_Status_decode(transfer, &msg)) {
-  struct actuators_uavcan_telem_t *telem = NULL;
+    return; // Decoding error
-  uint8_t max_id = 0;
-#ifdef UAVCAN1_TELEM_NB
-  if (iface == &uavcan1) {
-    telem = uavcan1_telem;
-    max_id = UAVCAN1_TELEM_NB;
   }
-#endif
-#ifdef UAVCAN2_TELEM_NB
-  if (iface == &uavcan2) {
-    telem = uavcan2_telem;
-    max_id = UAVCAN2_TELEM_NB;
-  }
-#endif
 
-  canardDecodeScalar(transfer, 0, 8, false, (void *)&actuator_idx);
+  // Get the correct telemetry
-  //Could not find the right interface
+  struct actuators_uavcan_telem_t *telem = get_actuator_telem(iface, msg.actuator_id);
-  if (actuator_idx >= max_id || telem == NULL || max_id == 0) {
+  if(telem == NULL) {
     return;
   }
 
-  //telem[actuator_idx].set = true;
+  //telem[msg.actuator_id].set = true;
-  canardDecodeScalar(transfer, 8, 16, true, (void *)&tmp_float);
+  telem->position = msg.position;
-  telem[actuator_idx].position = canardConvertFloat16ToNativeFloat(tmp_float);
 
-#ifdef UAVCAN1_TELEM_NB
+  // Feedback ABI position messages
-  if (iface == &uavcan1) {
+  struct act_feedback_t feedback = {0};
-    struct act_feedback_t feedback = {0};
+  feedback.idx = get_actuator_idx(iface, msg.actuator_id);
-    feedback.position = telem[actuator_idx].position;
+  feedback.position = telem->position;
-    feedback.set.position = true;
+  feedback.set.position = true;
 
-#ifdef SERVOS_UAVCAN1_NB
+  // Send ABI message
-    feedback.idx = get_servo_idx_UAVCAN1(actuator_idx);
+  AbiSendMsgACT_FEEDBACK(ACT_FEEDBACK_UAVCAN_ID, &feedback, 1);
-#endif
-#ifdef SERVOS_UAVCAN1CMD_NB
-    if(actuator_idx < SERVOS_UAVCAN1CMD_NB && actuators_uavcan1cmd_values[actuator_idx] != UAVCAN_CMD_UNUSED) {
-      feedback.idx = get_servo_idx_UAVCAN1CMD(actuator_idx);
-    }
-#endif
-
-    // Send ABI message
-    AbiSendMsgACT_FEEDBACK(ACT_FEEDBACK_UAVCAN_ID, &feedback, 1);
-  }
-#endif
-
-#ifdef UAVCAN2_TELEM_NB
-  if (iface == &uavcan2) {
-    struct act_feedback_t feedback = {0};
-    feedback.position = telem[actuator_idx].position;
-    feedback.set.position = true;
-
-#ifdef SERVOS_UAVCAN2_NB
-    feedback.idx = get_servo_idx_UAVCAN2(actuator_idx);
-#endif
-#ifdef SERVOS_UAVCAN2CMD_NB
-    if(actuator_idx < SERVOS_UAVCAN2CMD_NB && actuators_uavcan2cmd_values[actuator_idx] != UAVCAN_CMD_UNUSED) {
-      feedback.idx = get_servo_idx_UAVCAN2CMD(actuator_idx);
-    }
-#endif
-
-    // Send ABI message
-    AbiSendMsgACT_FEEDBACK(ACT_FEEDBACK_UAVCAN_ID, &feedback, 1);
-  }
-#endif
 }
 
 /**
@@ -359,34 +305,20 @@ static void actuators_uavcan_actuator_status_cb(struct uavcan_iface_t *iface, Ca
  */
 static void actuators_uavcan_device_temperature_cb(struct uavcan_iface_t *iface, CanardRxTransfer *transfer)
 {
-  uint16_t device_id;
+  // Decode the message
-  uint16_t tmp_float;
+  struct uavcan_equipment_device_Temperature msg;
-
+  if(uavcan_equipment_device_Temperature_decode(transfer, &msg)) {
-  struct actuators_uavcan_telem_t *telem = NULL;
+    return; // Decoding error
-  uint8_t max_id = 0;
-#ifdef UAVCAN1_TELEM_NB
-  if (iface == &uavcan1) {
-    telem = uavcan1_telem;
-    max_id = UAVCAN1_TELEM_NB;
   }
-#endif
-#ifdef UAVCAN2_TELEM_NB
-  if (iface == &uavcan2) {
-    telem = uavcan2_telem;
-    max_id = UAVCAN2_TELEM_NB;
-  }
-#endif
 
-
+  // Get the correct telemetry
-  canardDecodeScalar(transfer, 0, 16, false, (void*)&device_id);
+  struct actuators_uavcan_telem_t *telem = get_actuator_telem(iface, msg.device_id);
-  //Could not find the right interface
+  if(telem == NULL) {
-  if (device_id >= max_id || telem == NULL || max_id == 0) {
     return;
   }
 
-  telem[device_id].set = true;
+  telem->set = true;
-  canardDecodeScalar(transfer, 16, 16, false, (void*)&tmp_float);
+  telem->temperature_dev = msg.temperature - 273.15;
-  telem[device_id].temperature_dev = canardConvertFloat16ToNativeFloat(tmp_float) - 273.15;
 }
 
 
@@ -413,7 +345,7 @@ void actuators_uavcan_init(struct uavcan_iface_t *iface __attribute__((unused)))
   register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ESC, actuators_uavcan_send_esc);
 #endif
 
-  // Set default to not set
+  // Set default to not used
 #ifdef SERVOS_UAVCAN1CMD_NB
   for(uint8_t i = 0; i < SERVOS_UAVCAN1CMD_NB; i++)
     actuators_uavcan1cmd_values[i] = UAVCAN_CMD_UNUSED;
@@ -435,18 +367,20 @@ void actuators_uavcan_init(struct uavcan_iface_t *iface __attribute__((unused)))
  */
 void actuators_uavcan_commit(struct uavcan_iface_t *iface, int16_t *values, uint8_t nb)
 {
-  uint8_t buffer[UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_MAX_SIZE];
+  // Generate the message
-  uint32_t offset = 0;
+  struct uavcan_equipment_esc_RawCommand msg = {0};
-
+  msg.cmd.len = nb;
-  // Encode the values as 14-bit signed integers
   for (uint8_t i = 0; i < nb; i++) {
-    canardEncodeScalar(buffer, offset, 14, (void *)&values[i]);
+    msg.cmd.data[i] = values[i];
-    offset += 14;
   }
 
+  // Encode the mssage
+  uint8_t buffer[UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_MAX_SIZE];
+  uint32_t total_size = uavcan_equipment_esc_RawCommand_encode(&msg, buffer);
+
   // Broadcast the raw command message on the interface
   uavcan_broadcast(iface, UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_SIGNATURE, UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_ID,
-                    CANARD_TRANSFER_PRIORITY_HIGH, buffer, (offset + 7) / 8);
+                    CANARD_TRANSFER_PRIORITY_HIGH, buffer, total_size);
 }
 
 /**
@@ -454,31 +388,26 @@ void actuators_uavcan_commit(struct uavcan_iface_t *iface, int16_t *values, uint
  */
 void actuators_uavcan_cmd_commit(struct uavcan_iface_t *iface, int16_t *values, uint8_t nb)
 {
-  uint8_t buffer[UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_MAX_SIZE];
+  struct uavcan_equipment_actuator_ArrayCommand msg = {0};
-  uint32_t offset = 0;
+  msg.commands.len = 0;
-  uint8_t command_type = 0; // 0:UNITLESS, 1:meter or radian, 2:N or Nm, 3:m/s or rad/s
 
   // Encode the values for each command
   for (uint8_t i = 0; i < nb; i++) {
     // Skip unused commands
     if(values[i] == UAVCAN_CMD_UNUSED || values[i] < MIN_PPRZ || values[i] > MAX_PPRZ)
       continue;
-
+    
-    // Set the command id
+    msg.commands.data[msg.commands.len].actuator_id = i;
-    canardEncodeScalar(buffer, offset, 8, (void*)&i); // 255
+    msg.commands.data[msg.commands.len].command_type = UAVCAN_EQUIPMENT_ACTUATOR_COMMAND_COMMAND_TYPE_UNITLESS;
-    offset += 8;
+    msg.commands.data[msg.commands.len].command_value = (float)values[i] / (float)MAX_PPRZ;
-
+    msg.commands.len++;
-    // Set the command type
-    canardEncodeScalar(buffer, offset, 8, (void*)&command_type); // 255
-    offset += 8;
-
-    // Set the command value
-    uint16_t tmp_float = canardConvertNativeFloatToFloat16((float)values[i] / (float)MAX_PPRZ);
-    canardEncodeScalar(buffer, offset, 16, (void*)&tmp_float); // 32767
-    offset += 16;
   }
 
+  // Encode the message
+  uint8_t buffer[UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_MAX_SIZE];
+  uint32_t total_size = uavcan_equipment_actuator_ArrayCommand_encode(&msg, buffer);
+
   // Broadcast the raw command message on the interface
   uavcan_broadcast(iface, UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_SIGNATURE, UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_ID,
-                    CANARD_TRANSFER_PRIORITY_HIGH, buffer, (offset + 7) / 8);
+                    CANARD_TRANSFER_PRIORITY_HIGH, buffer, total_size);
 }

sw/airborne/modules/sensors/airspeed_uavcan.c

@@ -26,6 +26,7 @@
 #include "airspeed_uavcan.h"
 #include "uavcan/uavcan.h"
 #include "core/abi.h"
+#include "uavcan.equipment.air_data.RawAirData.h"
 
 /* Enable ABI sending */
 #ifndef AIRSPEED_UAVCAN_SEND_ABI
@@ -52,11 +53,6 @@
 static Butterworth2LowPass airspeed_filter;
 #endif  /* USE_AIRSPEED_UAVCAN_LOWPASS_FILTER */
 
-/* uavcan EQUIPMENT_ESC_STATUS message definition */
-#define UAVCAN_EQUIPMENT_AIR_DATA_RAWAIRDATA_ID            1027
-#define UAVCAN_EQUIPMENT_AIR_DATA_RAWAIRDATA_SIGNATURE     (0xC77DF38BA122F5DAULL)
-#define UAVCAN_EQUIPMENT_AIR_DATA_RAWAIRDATA_MAX_SIZE      ((397 + 7)/8)
-
 /* Local variables */
 struct airspeed_uavcan_t airspeed_uavcan = {0};
 static uavcan_event airspeed_uavcan_ev;
@@ -85,21 +81,16 @@ static void airspeed_uavcan_downlink(struct transport_tx *trans, struct link_dev
 #endif /* PERIODIC_TELEMETRY */
 
 static void airspeed_uavcan_cb(struct uavcan_iface_t *iface __attribute__((unused)), CanardRxTransfer *transfer) {
-  uint16_t tmp_float = 0;
+  
-  float diff_p;
+  struct uavcan_equipment_air_data_RawAirData msg;
+
+  if(uavcan_equipment_air_data_RawAirData_decode(transfer, &msg)) {
+    return;   // decode error
+  }
+
+  float diff_p = msg.differential_pressure;
+  float static_air_temp = msg.static_air_temperature;
 
-  /* Decode the message */
-  //canardDecodeScalar(transfer, (uint32_t)0, 8, false, (void*)&dest->flags);
-  //canardDecodeScalar(transfer, (uint32_t)8, 32, false, (void*)&static_p);
-  canardDecodeScalar(transfer, (uint32_t)40, 32, false, (void*)&diff_p);
-  //canardDecodeScalar(transfer, (uint32_t)72, 16, false, (void*)&tmp_float);
-  //float static_temp = canardConvertFloat16ToNativeFloat(tmp_float);
-  //canardDecodeScalar(transfer, (uint32_t)88, 16, false, (void*)&tmp_float);
-  //float diff_temp = canardConvertFloat16ToNativeFloat(tmp_float);
-  canardDecodeScalar(transfer, (uint32_t)104, 16, false, (void*)&tmp_float);
-  float static_air_temp = canardConvertFloat16ToNativeFloat(tmp_float);
-  //canardDecodeScalar(transfer, (uint32_t)120, 16, false, (void*)&tmp_float);
-  //float pitot_temp = canardConvertFloat16ToNativeFloat(tmp_float);
 
   if(!isnan(diff_p)) {
     // Remove the offset and apply a scaling factor

sw/airborne/modules/sensors/power_uavcan.c

@@ -27,16 +27,9 @@
 #include "uavcan/uavcan.h"
 #include "modules/energy/electrical.h"
 #include "math/pprz_random.h"
+#include "uavcan.equipment.power.BatteryInfo.h"
+#include "uavcan.equipment.power.CircuitStatus.h"
 
-/* uavcan EQUIPMENT_ESC_STATUS message definition */
-#define UAVCAN_EQUIPMENT_POWER_BATTERYINFO_ID 1092
-#define UAVCAN_EQUIPMENT_POWER_BATTERYINFO_SIGNATURE (0x249C26548A711966ULL)
-#define UAVCAN_EQUIPMENT_POWER_BATTERYINFO_MAX_SIZE 55
-
-/* uavcan EQUIPMENT_POWER_CIRCUITSTATUS message definition */
-#define UAVCAN_EQUIPMENT_POWER_CIRCUITSTATUS_ID 1091
-#define UAVCAN_EQUIPMENT_POWER_CIRCUITSTATUS_SIGNATURE (0x8313D33D0DDDA115ULL)
-#define UAVCAN_EQUIPMENT_POWER_CIRCUITSTATUS_MAX_SIZE 7
 
 /* Default maximum amount of batteries */
 #ifndef POWER_UAVCAN_BATTERIES_MAX
@@ -57,40 +50,24 @@
 static uavcan_event power_uavcan_ev;
 static uavcan_event circuit_uavcan_ev;
 
-/* Batteries */
+struct battery_info
-struct uavcan_equipment_power_BatteryInfo {
+{
   bool set;
   uint8_t node_id;
-
+  struct uavcan_equipment_power_BatteryInfo info;
-  float temperature;
-  float voltage;
-  float current;
-  float average_power_10sec;
-  float remaining_capacity_wh;
-  float full_charge_capacity_wh;
-  float hours_to_full_charge;
-  uint16_t status_flags;
-  uint8_t state_of_health_pct;
-  uint8_t state_of_charge_pct;
-  uint8_t state_of_charge_pct_stdev;
-  uint8_t battery_id;
-  uint32_t model_instance_id;
-//  struct { uint8_t len; uint8_t data[31]; }model_name;
 };
-static struct uavcan_equipment_power_BatteryInfo batteries[POWER_UAVCAN_BATTERIES_MAX] = {0};
 
 /* Circuits */
-struct uavcan_equipment_power_CircuitStatus {
+struct circuit_status {
   bool set;
   uint8_t node_id;
   bool is_battery;
-
+  struct uavcan_equipment_power_CircuitStatus status;
-  uint16_t circuit_id;
-  float voltage;
-  float current;
-  uint8_t error_flags;
 };
-static struct uavcan_equipment_power_CircuitStatus circuits[POWER_UAVCAN_CIRCUITS_MAX] = {0};
+
+
+static struct battery_info batteries[POWER_UAVCAN_BATTERIES_MAX] = {0};
+static struct circuit_status circuits[POWER_UAVCAN_CIRCUITS_MAX] = {0};
 
 /* Battery circuits */
 struct uavcan_circuit_battery_t {
@@ -107,8 +84,8 @@ static void power_uavcan_send_power_device(struct transport_tx *trans, struct li
   static uint8_t idx = 0;
   // Send the circuit status
   if(circuits[idx].set) {
-    uint8_t cid = circuits[idx].circuit_id;
+    uint8_t cid = circuits[idx].status.circuit_id;
-    pprz_msg_send_POWER_DEVICE(trans, dev, AC_ID, &circuits[idx].node_id, &cid, &circuits[idx].current, &circuits[idx].voltage);
+    pprz_msg_send_POWER_DEVICE(trans, dev, AC_ID, &circuits[idx].node_id, &cid, &circuits[idx].status.current, &circuits[idx].status.voltage);
   }
 
   // Go to the next
@@ -124,41 +101,16 @@ static void power_uavcan_send_power_device(struct transport_tx *trans, struct li
 
 static void power_uavcan_battery_cb(struct uavcan_iface_t *iface __attribute__((unused)), CanardRxTransfer *transfer)
 {
-  uint16_t tmp_float = 0;
+  struct uavcan_equipment_power_BatteryInfo msg;
-
+  if(uavcan_equipment_power_BatteryInfo_decode(transfer, &msg)) {
-  /* Decode the message */
+    return;   // decode error
-  canardDecodeScalar(transfer, (uint32_t)0, 16, true, (void *)&tmp_float);
+  }
-  float temperature = canardConvertFloat16ToNativeFloat(tmp_float);
-  canardDecodeScalar(transfer, (uint32_t)16, 16, true, (void *)&tmp_float);
-  float voltage = canardConvertFloat16ToNativeFloat(tmp_float);
-  canardDecodeScalar(transfer, (uint32_t)32, 16, true, (void *)&tmp_float);
-  float current = canardConvertFloat16ToNativeFloat(tmp_float);
-  canardDecodeScalar(transfer, (uint32_t)48, 16, true, (void *)&tmp_float);
-  float average_power_10sec = canardConvertFloat16ToNativeFloat(tmp_float);
-  canardDecodeScalar(transfer, (uint32_t)64, 16, true, (void *)&tmp_float);
-  float remaining_capacity_wh = canardConvertFloat16ToNativeFloat(tmp_float);
-  canardDecodeScalar(transfer, (uint32_t)80, 16, true, (void *)&tmp_float);
-  float full_charge_capacity_wh = canardConvertFloat16ToNativeFloat(tmp_float);
-  canardDecodeScalar(transfer, (uint32_t)96, 16, true, (void *)&tmp_float);
-  float hours_to_full_charge = canardConvertFloat16ToNativeFloat(tmp_float);
-  uint16_t status_flags = 0;
-  canardDecodeScalar(transfer, (uint32_t)112, 11, false, (void *)&status_flags);
-  uint8_t state_of_health_pct = 0;
-  canardDecodeScalar(transfer, (uint32_t)123, 7, false, (void *)&state_of_health_pct);
-  uint8_t state_of_charge_pct = 0;
-  canardDecodeScalar(transfer, (uint32_t)130, 7, false, (void *)&state_of_charge_pct);
-  uint8_t state_of_charge_pct_stdev = 0;
-  canardDecodeScalar(transfer, (uint32_t)137, 7, false, (void *)&state_of_charge_pct_stdev);
-  uint8_t battery_id = 0;
-  canardDecodeScalar(transfer, (uint32_t)144, 8, false, (void *)&battery_id);
-  uint32_t model_instance_id = 0;
-  canardDecodeScalar(transfer, (uint32_t)152, 32, false, (void *)&model_instance_id);
 
   // Search for the battery or free spot
   uint8_t battery_idx = POWER_UAVCAN_BATTERIES_MAX;
   for (uint8_t i = 0; i < POWER_UAVCAN_BATTERIES_MAX; i++) {
     if (batteries[i].set && batteries[i].node_id == transfer->source_node_id && 
-        batteries[i].battery_id == battery_id && batteries[i].model_instance_id == model_instance_id) {
+        batteries[i].info.battery_id == msg.battery_id && batteries[i].info.model_instance_id == msg.model_instance_id) {
       battery_idx = i;
       break;
     }
@@ -176,51 +128,33 @@ static void power_uavcan_battery_cb(struct uavcan_iface_t *iface __attribute__((
   // Set the battery info
   batteries[battery_idx].set = true;
   batteries[battery_idx].node_id = transfer->source_node_id;
-  batteries[battery_idx].temperature = temperature;
+  batteries[battery_idx].info = msg;
-  batteries[battery_idx].voltage = voltage;
-  batteries[battery_idx].current = current;
-  batteries[battery_idx].average_power_10sec = average_power_10sec;
-  batteries[battery_idx].remaining_capacity_wh = remaining_capacity_wh;
-  batteries[battery_idx].full_charge_capacity_wh = full_charge_capacity_wh;
-  batteries[battery_idx].hours_to_full_charge = hours_to_full_charge;
-  batteries[battery_idx].status_flags = status_flags;
-  batteries[battery_idx].state_of_health_pct = state_of_health_pct;
-  batteries[battery_idx].state_of_charge_pct = state_of_charge_pct;
-  batteries[battery_idx].state_of_charge_pct_stdev = state_of_charge_pct_stdev;
-  batteries[battery_idx].battery_id = battery_id;
-  batteries[battery_idx].model_instance_id = model_instance_id;
 
   // Sum the battery currents
   float current_sum = 0;
   for (uint8_t i = 0; i < POWER_UAVCAN_BATTERIES_MAX; i++) {
     if (batteries[i].set) {
-      current_sum += batteries[i].current;
+      current_sum += batteries[i].info.current;
     }
   }
   electrical.current = current_sum;
-  if (voltage > 0) {
+  if (msg.voltage > 0) {
-    electrical.vsupply = voltage;
+    electrical.vsupply = msg.voltage;
   }
 }
 
 static void power_uavcan_circuit_cb(struct uavcan_iface_t *iface __attribute__((unused)), CanardRxTransfer *transfer)
 {
-  uint16_t tmp_float = 0;
 
-  /* Decode the message */
+  struct uavcan_equipment_power_CircuitStatus msg;
-  uint16_t circuit_id = 0;
+  if(uavcan_equipment_power_CircuitStatus_decode(transfer, &msg)) {
-  canardDecodeScalar(transfer, (uint32_t)0, 16, false, (void *)&circuit_id);
+    return;   // decode error
-  canardDecodeScalar(transfer, (uint32_t)16, 16, true, (void *)&tmp_float);
+  }
-  float voltage = canardConvertFloat16ToNativeFloat(tmp_float);
-  canardDecodeScalar(transfer, (uint32_t)32, 16, true, (void *)&tmp_float);
-  float current = canardConvertFloat16ToNativeFloat(tmp_float);
-  uint8_t error_flags = 0;
-  canardDecodeScalar(transfer, (uint32_t)48, 8, false, (void *)&error_flags);
 
   // Search for the circuit or free spot
   uint8_t circuit_idx = POWER_UAVCAN_CIRCUITS_MAX;
   for (uint8_t i = 0; i < POWER_UAVCAN_CIRCUITS_MAX; i++) {
-    if (circuits[i].set && circuits[i].node_id == transfer->source_node_id && circuits[i].circuit_id == circuit_id) {
+    if (circuits[i].set && circuits[i].node_id == transfer->source_node_id && circuits[i].status.circuit_id == msg.circuit_id) {
       circuit_idx = i;
       break;
     }
@@ -238,21 +172,18 @@ static void power_uavcan_circuit_cb(struct uavcan_iface_t *iface __attribute__((
   // Set the circuit info
   circuits[circuit_idx].set = true;
   circuits[circuit_idx].node_id = transfer->source_node_id;
-  circuits[circuit_idx].circuit_id = circuit_id;
+  circuits[circuit_idx].status = msg;
-  circuits[circuit_idx].voltage = voltage;
-  circuits[circuit_idx].current = current;
-  circuits[circuit_idx].error_flags = error_flags;
 
   // Sum the 'battery' circuit currents
   float current_sum = 0;
   for (uint8_t i = 0; i < POWER_UAVCAN_CIRCUITS_MAX; i++) {
     if (circuits[i].set && circuits[i].is_battery) {
-      current_sum += circuits[i].current;
+      current_sum += circuits[i].status.current;
     }
   }
   electrical.current = current_sum;
-  if (voltage > 0 && circuits[circuit_idx].is_battery) {
+  if (msg.voltage > 0 && circuits[circuit_idx].is_battery) {
-    electrical.vsupply = voltage;
+    electrical.vsupply = msg.voltage;
   }
 }
 
@@ -262,7 +193,7 @@ void power_uavcan_init(void)
   for (uint8_t i = 0; i < sizeof(battery_circuits) / sizeof(struct uavcan_circuit_battery_t); i++) {
     circuits[i].set = true;
     circuits[i].node_id = battery_circuits[i].node_id;
-    circuits[i].circuit_id = battery_circuits[i].circuit_id;
+    circuits[i].status.circuit_id = battery_circuits[i].circuit_id;
     circuits[i].is_battery = true;
   }
 

sw/airborne/modules/sensors/range_sensor_uavcan.c

@@ -26,21 +26,11 @@
 #include "range_sensor_uavcan.h"
 #include "uavcan/uavcan.h"
 #include "core/abi.h"
+#include "uavcan.equipment.range_sensor.Measurement.h"
 
 
-/* uavcan EQUIPMENT_RANGE_SENSOR_MEASUREMENT message definition */
-#define UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_ID       1050
-#define UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_SIGNATURE (0x68FFFE70FC771952ULL)
-#define UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_MAX_SIZE ((120 + 7)/8)
-
-/* Local structure */
-struct range_sensor_uavcan_t {
-  float range;
-  uint8_t reading_type;
-};
-
 /* Local variables */
-static struct range_sensor_uavcan_t range_sensor_uavcan = {0};
+static struct uavcan_equipment_range_sensor_Measurement range_sensor_uavcan = {0};
 static uavcan_event range_sensor_uavcan_ev;
 
 #if PERIODIC_TELEMETRY
@@ -58,21 +48,9 @@ static void range_sensor_uavcan_send_lidar(struct transport_tx *trans, struct li
 #endif
 
 static void range_sensor_uavcan_cb(struct uavcan_iface_t *iface __attribute__((unused)), CanardRxTransfer *transfer) {
-  uint16_t tmp_float = 0;
+  if(uavcan_equipment_range_sensor_Measurement_decode(transfer, &range_sensor_uavcan)) {
-
+    return;   // decode error
-  /* Decode the message */
+  }
-  //canardDecodeScalar(transfer, (uint32_t)0, 56, false, (void*)&dest->usec);
-  //canardDecodeScalar(transfer, (uint32_t)56, 8, false, (void*)&dest->sensor_id);
-  //canardDecodeScalar(transfer, (uint32_t)64, 5, true, (void*)(dest->fixed_axis_roll_pitch_yaw + 0));
-  //canardDecodeScalar(transfer, (uint32_t)69, 5, true, (void*)(dest->fixed_axis_roll_pitch_yaw + 1));
-  //canardDecodeScalar(transfer, (uint32_t)74, 5, true, (void*)(dest->fixed_axis_roll_pitch_yaw + 2));
-  //canardDecodeScalar(transfer, (uint32_t)79, 1, false, (void*)&dest->orientation_defined);
-  //canardDecodeScalar(transfer, (uint32_t)80, 16, false, (void*)&tmp_float);
-  //float fov = canardConvertFloat16ToNativeFloat(tmp_float);
-  //canardDecodeScalar(transfer, (uint32_t)96, 5, false, (void*)&dest->sensor_type);
-  canardDecodeScalar(transfer, (uint32_t)101, 3, false, (void*)&range_sensor_uavcan.reading_type);
-  canardDecodeScalar(transfer, (uint32_t)104, 16, false, (void*)&tmp_float);
-  range_sensor_uavcan.range = canardConvertFloat16ToNativeFloat(tmp_float);
 
   // Send the range over ABI
   if(!isnan(range_sensor_uavcan.range)) {

sw/ext/Makefile

@@ -35,7 +35,7 @@ include $(PAPARAZZI_SRC)/conf/Makefile.arm-embedded-toolchain
 MY_PYTHON := $(shell echo `which python3`)
 MY_MAVLINKTOOLS := $(shell $(MY_PYTHON) -c 'import imp; import future' 2>&1)
 
-all: libopencm3 luftboot chibios fatfs libsbp TRICAL hacl-c key_generator rustlink ecl matrix mavlink
+all: libopencm3 luftboot chibios fatfs libsbp TRICAL hacl-c key_generator rustlink ecl matrix mavlink dronecan
 
 # update (and init if needed) all submodules
 update_submodules:
@@ -112,6 +112,9 @@ opencv_bebop: opencv_bebop.update opencv_bebop.build
 opencv_bebop.build:
 	$(Q)$(MAKE) -C opencv_bebop
 
+dronecan:
+	$(Q)$(MAKE) -C dronecan
+
 clean:
 	$(Q)if [ -f libopencm3/Makefile ]; then \
 		$(MAKE) -C $(EXT_DIR)/libopencm3 clean; \
@@ -126,4 +129,7 @@ clean_opencv_bebop:
 	fi
 
 .NOTPARALLEL: libopencm3 luftboot
-.PHONY: all clean update_submodules libopencm3 luftboot chibios fatfs luftboot_flash libopencm3.build luftboot.build mavlink.build libsbp pprzlink pprzlink.build opencv_bebop opencv_bebop.build clean_opencv_bebop TRICAL
+.PHONY: all clean update_submodules libopencm3 luftboot \
+		chibios fatfs luftboot_flash libopencm3.build luftboot.build \
+		mavlink.build libsbp pprzlink pprzlink.build opencv_bebop \
+		opencv_bebop.build clean_opencv_bebop TRICAL dronecan

sw/ext/dronecan/Makefile

@@ -0,0 +1,67 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+#   Copyright (C) 2012 The Paparazzi Team
+#
+# This file is part of paparazzi.
+#
+# paparazzi 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 2, or (at your option)
+# any later version.
+#
+# paparazzi 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 paparazzi; see the file COPYING.  If not, write to
+# the Free Software Foundation, 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.
+
+# The default is to produce a quiet echo of compilation commands
+# Launch with "make Q=''" to get full echo
+
+Q=@
+
+PAPARAZZI_SRC=../../..
+DRONECAN_DIR=$(PAPARAZZI_SRC)/sw/ext/dronecan
+DSDL_DIR := $(DRONECAN_DIR)/DSDL
+
+all: libcanard DSDL dronecan_dsdlc pydronecan
+
+libcanard: libcanard.sync libcanard.update
+
+DSDL : DSDL.sync DSDL.update
+
+dronecan_dsdlc : dronecan_dsdlc.sync dronecan_dsdlc.update dronecan_dsdlc.build
+
+pydronecan : pydronecan.sync pydronecan.update
+
+
+
+dronecan_dsdlc.build:
+	$(eval DSDL_ROOTS_PART := $(sort $(dir $(wildcard $(DSDL_DIR)/*/))))
+	$(eval DSDL_ROOTS := $(filter-out $(DRONECAN_DIR)/DSDL/tests/ $(DRONECAN_DIR)/DSDL/,$(DSDL_ROOTS_PART)))
+	@echo Generating dsdl code from $(DSDL_ROOTS) to $(PAPARAZZI_SRC)/var/include/DSDLcode
+	$(Q) python $(DRONECAN_DIR)/dronecan_dsdlc/dronecan_dsdlc.py -O $(PAPARAZZI_SRC)/var/include/DSDLcode $(DSDL_ROOTS)
+	@echo Done
+
+
+# update (and init if needed) a specific submodule
+%.update:
+	$(Q)if [ -d $(PAPARAZZI_SRC)/.git ]; then \
+		cd $(PAPARAZZI_SRC) && git submodule update --init --recursive sw/ext/dronecan/$*; \
+	fi
+
+# sync a specific submodule
+%.sync:
+	$(Q)if [ -d $(PAPARAZZI_SRC)/.git ]; then \
+		cd $(PAPARAZZI_SRC) && git submodule sync --recursive sw/ext/dronecan/$*; \
+	fi
+
+
+clean:
+	$(Q)rm -r $(PAPARAZZI_SRC)/var/include/DSDLcode
+
+.PHONY: all clean pydronecan dronecan dronecan_dsdlc.build DSDL libcanard