Adding px4cannode-v1 board and bootloader

src/modules/uavcannode/uavcannode_main.cpp

@@ -0,0 +1,619 @@
+/****************************************************************************
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_config.h>
+#include <px4_log.h>
+
+#ifdef __PX4_NUTTX
+#include <nuttx/clock.h>
+#
+#else
+#include <px4_workqueue.h>
+#endif
+
+#include <cstdlib>
+#include <cstring>
+#include <fcntl.h>
+#include <systemlib/err.h>
+#include <systemlib/systemlib.h>
+#include <systemlib/param/param.h>
+#include <systemlib/mixer/mixer.h>
+#include <systemlib/board_serial.h>
+#include <systemlib/scheduling_priorities.h>
+#include <version/version.h>
+__BEGIN_DECLS
+#include <nuttx/board.h>
+#include <arch/chip/chip.h>
+__END_DECLS
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_pwm_output.h>
+
+#include "uavcannode_main.hpp"
+#include "indication_controller.hpp"
+#include "sim_controller.hpp"
+#include "resources.hpp"
+#include "led.hpp"
+
+#include "boot_app_shared.h"
+
+/**
+ * @file uavcan_main.cpp
+ *
+ * Implements basic functionality of UAVCAN node.
+ *
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ *         David Sidrane <david_s5@nscdg.com>
+ */
+
+#define RESOURCE_DEBUG
+#if defined(RESOURCE_DEBUG)
+#define resources(s) ::syslog(LOG_INFO," %s\n",(s)); \
+	if (UavcanNode::instance()) { \
+		syslog(LOG_INFO,"UAVCAN  getPeakNumUsedBlocks() in bytes %d\n", \
+		       UAVCAN_MEM_POOL_BLOCK_SIZE * UavcanNode::instance()->get_node().getAllocator().getPeakNumUsedBlocks()); \
+	} \
+	free_check(); \
+	stack_check();
+#else
+#define resources(s)
+#endif
+
+/*
+ * This is the AppImageDescriptor used
+ * by the make_can_boot_descriptor.py tool to set
+ * the application image's descriptor so that the
+ * uavcan bootloader has the ability to validate the
+ * image crc, size etc of this application
+*/
+
+boot_app_shared_section app_descriptor_t AppDescriptor = {
+	.signature = {APP_DESCRIPTOR_SIGNATURE},
+	.image_crc = 0,
+	.image_size = 0,
+	.vcs_commit = 0,
+	.major_version = APP_VERSION_MAJOR,
+	.minor_version = APP_VERSION_MINOR,
+	.reserved = {0xff , 0xff , 0xff , 0xff , 0xff , 0xff }
+};
+
+/*
+ * UavcanNode
+ */
+UavcanNode *UavcanNode::_instance;
+
+UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock) :
+	CDev("uavcan", UAVCAN_DEVICE_PATH),
+	active_bitrate(0),
+	_node(can_driver, system_clock),
+	_node_mutex(),
+	_time_sync_slave(_node),
+	_fw_update_listner(_node),
+	_reset_timer(_node)
+{
+	const int res = pthread_mutex_init(&_node_mutex, nullptr);
+
+	if (res < 0) {
+		std::abort();
+	}
+
+}
+
+UavcanNode::~UavcanNode()
+{
+	if (_task != -1) {
+		/* tell the task we want it to go away */
+		_task_should_exit = true;
+
+		unsigned i = 10;
+
+		do {
+			/* wait 5ms - it should wake every 10ms or so worst-case */
+			::usleep(5000);
+
+			/* if we have given up, kill it */
+			if (--i == 0) {
+				task_delete(_task);
+				break;
+			}
+
+		} while (_task != -1);
+	}
+
+	_instance = nullptr;
+
+}
+
+int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
+{
+
+
+	if (_instance != nullptr) {
+		warnx("Already started");
+		return -1;
+	}
+
+	/*
+	 * GPIO config.
+	 * Forced pull up on CAN2 is required for Pixhawk v1 where the second interface lacks a transceiver.
+	 * If no transceiver is connected, the RX pin will float, occasionally causing CAN controller to
+	 * fail during initialization.
+	 */
+	px4_arch_configgpio(GPIO_CAN1_RX);
+	px4_arch_configgpio(GPIO_CAN1_TX);
+#if defined(GPIO_CAN2_RX)
+	px4_arch_configgpio(GPIO_CAN2_RX | GPIO_PULLUP);
+	px4_arch_configgpio(GPIO_CAN2_TX);
+#endif
+	/*
+	 * CAN driver init
+	 */
+	static CanInitHelper can;
+	static bool can_initialized = false;
+
+	if (!can_initialized) {
+		const int can_init_res = can.init(bitrate);
+
+		if (can_init_res < 0) {
+			warnx("CAN driver init failed %i", can_init_res);
+			return can_init_res;
+		}
+
+		can_initialized = true;
+	}
+
+	/*
+	 * Node init
+	 */
+	_instance = new UavcanNode(can.driver, uavcan_stm32::SystemClock::instance());
+
+	if (_instance == nullptr) {
+		warnx("Out of memory");
+		return -1;
+	}
+
+
+	resources("Before _instance->init:");
+	const int node_init_res = _instance->init(node_id);
+	resources("After _instance->init:");
+
+	if (node_init_res < 0) {
+		delete _instance;
+		_instance = nullptr;
+		warnx("Node init failed %i", node_init_res);
+		return node_init_res;
+	}
+
+
+	/* Keep the bit rate for reboots on BenginFirmware updates */
+
+	_instance->active_bitrate = bitrate;
+
+	/*
+	 * Start the task. Normally it should never exit.
+	 */
+	static auto run_trampoline = [](int, char *[]) {return UavcanNode::_instance->run();};
+	_instance->_task = px4_task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_ACTUATOR_OUTPUTS, StackSize,
+					      static_cast<main_t>(run_trampoline), nullptr);
+
+	if (_instance->_task < 0) {
+		warnx("start failed: %d", errno);
+		return -errno;
+	}
+
+	return OK;
+}
+
+void UavcanNode::fill_node_info()
+{
+	/* software version */
+	uavcan::protocol::SoftwareVersion swver;
+
+	// Extracting the first 8 hex digits of FW_GIT and converting them to int
+	char fw_git_short[9] = {};
+	std::memmove(fw_git_short, FW_GIT, 8);
+	assert(fw_git_short[8] == '\0');
+	char *end = nullptr;
+	swver.vcs_commit = std::strtol(fw_git_short, &end, 16);
+	swver.optional_field_flags |= swver.OPTIONAL_FIELD_FLAG_VCS_COMMIT;
+	swver.major = AppDescriptor.major_version;
+	swver.minor = AppDescriptor.minor_version;
+	swver.image_crc = AppDescriptor.image_crc;
+
+	warnx("SW version vcs_commit: 0x%08x", unsigned(swver.vcs_commit));
+
+	_node.setSoftwareVersion(swver);
+
+	/* hardware version */
+	uavcan::protocol::HardwareVersion hwver;
+
+	hwver.major = HW_VERSION_MAJOR;
+	hwver.minor = HW_VERSION_MINOR;
+
+	uint8_t udid[12] = {};  // Someone seems to love magic numbers
+	get_board_serial(udid);
+	uavcan::copy(udid, udid + sizeof(udid), hwver.unique_id.begin());
+
+	_node.setHardwareVersion(hwver);
+}
+
+static void cb_reboot(const uavcan::TimerEvent &)
+{
+	px4_systemreset(false);
+
+}
+
+void UavcanNode::cb_beginfirmware_update(const uavcan::ReceivedDataStructure<UavcanNode::BeginFirmwareUpdate::Request>
+		&req,
+		uavcan::ServiceResponseDataStructure<UavcanNode::BeginFirmwareUpdate::Response> &rsp)
+{
+	static bool inprogress = false;
+
+	rsp.error = rsp.ERROR_UNKNOWN;
+
+	if (req.image_file_remote_path.path.size()) {
+		rsp.error = rsp.ERROR_IN_PROGRESS;
+
+		if (!inprogress) {
+			inprogress = true;
+			bootloader_app_shared_t shared;
+			shared.bus_speed = active_bitrate;
+			shared.node_id = _node.getNodeID().get();
+			bootloader_app_shared_write(&shared, App);
+			rgb_led(255, 128 , 0 , 5);
+			_reset_timer.setCallback(cb_reboot);
+			_reset_timer.startOneShotWithDelay(uavcan::MonotonicDuration::fromMSec(1000));
+			rsp.error = rsp.ERROR_OK;
+		}
+	}
+}
+
+int UavcanNode::init(uavcan::NodeID node_id)
+{
+	int ret = -1;
+
+	// Do regular cdev init
+	ret = CDev::init();
+
+	if (ret != OK) {
+		return ret;
+	}
+
+	_node.setName(HW_UAVCAN_NAME);
+
+	_node.setNodeID(node_id);
+
+	fill_node_info();
+
+	const int srv_start_res = _fw_update_listner.start(BeginFirmwareUpdateCallBack(this,
+				  &UavcanNode::cb_beginfirmware_update));
+
+	if (srv_start_res < 0) {
+		return ret;
+	}
+
+	return _node.start();
+}
+
+
+/*
+ * Restart handler
+ */
+class RestartRequestHandler: public uavcan::IRestartRequestHandler
+{
+	bool handleRestartRequest(uavcan::NodeID request_source) override
+	{
+		::syslog(LOG_INFO, "UAVCAN: Restarting by request from %i\n", int(request_source.get()));
+		::usleep(20 * 1000 * 1000);
+		px4_systemreset(false);
+		return true; // Will never be executed BTW
+	}
+} restart_request_handler;
+
+void UavcanNode::node_spin_once()
+{
+	const int spin_res = _node.spin(uavcan::MonotonicTime());
+
+	if (spin_res < 0) {
+		warnx("node spin error %i", spin_res);
+	}
+}
+
+/*
+  add a fd to the list of polled events. This assumes you want
+  POLLIN for now.
+ */
+int UavcanNode::add_poll_fd(int fd)
+{
+	int ret = _poll_fds_num;
+
+	if (_poll_fds_num >= UAVCAN_NUM_POLL_FDS) {
+		errx(1, "uavcan: too many poll fds, exiting");
+	}
+
+	_poll_fds[_poll_fds_num] = ::pollfd();
+	_poll_fds[_poll_fds_num].fd = fd;
+	_poll_fds[_poll_fds_num].events = POLLIN;
+	_poll_fds_num += 1;
+	return ret;
+}
+
+
+int UavcanNode::run()
+{
+
+	get_node().setRestartRequestHandler(&restart_request_handler);
+
+	while (init_indication_controller(get_node()) < 0) {
+		::syslog(LOG_INFO, "UAVCAN: Indication controller init failed\n");
+		::sleep(1);
+	}
+
+	while (init_sim_controller(get_node()) < 0) {
+		::syslog(LOG_INFO, "UAVCAN: sim controller init failed\n");
+		::sleep(1);
+	}
+
+	(void)pthread_mutex_lock(&_node_mutex);
+
+	/*
+	 * Set up the time synchronization
+	 */
+
+	const int slave_init_res = _time_sync_slave.start();
+
+	if (slave_init_res < 0) {
+		warnx("Failed to start time_sync_slave");
+		_task_should_exit = true;
+	}
+
+	const unsigned PollTimeoutMs = 50;
+
+	const int busevent_fd = ::open(uavcan_stm32::BusEvent::DevName, 0);
+
+	if (busevent_fd < 0) {
+		warnx("Failed to open %s", uavcan_stm32::BusEvent::DevName);
+		_task_should_exit = true;
+	}
+
+	/* If we had an  RTC we would call uavcan_stm32::clock::setUtc()
+	* but for now we use adjustUtc with a correction of 0
+	*/
+//        uavcan_stm32::clock::adjustUtc(uavcan::UtcDuration::fromUSec(0));
+
+	_node.setModeOperational();
+
+	/*
+	 * This event is needed to wake up the thread on CAN bus activity (RX/TX/Error).
+	 * Please note that with such multiplexing it is no longer possible to rely only on
+	 * the value returned from poll() to detect whether actuator control has timed out or not.
+	 * Instead, all ORB events need to be checked individually (see below).
+	 */
+	add_poll_fd(busevent_fd);
+
+	uint32_t start_tick = clock_systimer();
+
+	while (!_task_should_exit) {
+		// Mutex is unlocked while the thread is blocked on IO multiplexing
+		(void)pthread_mutex_unlock(&_node_mutex);
+
+		const int poll_ret = ::poll(_poll_fds, _poll_fds_num, PollTimeoutMs);
+
+
+		(void)pthread_mutex_lock(&_node_mutex);
+
+		node_spin_once();  // Non-blocking
+
+
+		// this would be bad...
+		if (poll_ret < 0) {
+			PX4_ERR("poll error %d", errno);
+			continue;
+
+		} else {
+			// Do Something
+		}
+
+		if (clock_systimer() - start_tick > TICK_PER_SEC) {
+			start_tick = clock_systimer();
+			resources("Udate:");
+			/*
+			 *  Printing the slave status information once a second
+			 */
+			const bool active = _time_sync_slave.isActive();                      // Whether it can sync with a remote master
+
+			const int master_node_id = _time_sync_slave.getMasterNodeID().get();  // Returns an invalid Node ID if (active == false)
+
+			const long msec_since_last_adjustment = (_node.getMonotonicTime() - _time_sync_slave.getLastAdjustmentTime()).toMSec();
+			const uavcan::UtcTime utc = uavcan_stm32::clock::getUtc();
+			syslog(LOG_INFO, "Time:%lld\n"
+			       "            Time sync slave status:\n"
+			       "    Active: %d\n"
+			       "    Master Node ID: %d\n"
+			       "    Last clock adjustment was %ld ms ago\n",
+			       utc .toUSec(), int(active), master_node_id, msec_since_last_adjustment);
+			syslog(LOG_INFO, "UTC %lu sec   Rate corr: %fPPM   Jumps: %lu   Locked: %i\n\n",
+			       static_cast<unsigned long>(utc.toMSec() / 1000),
+			       static_cast<double>(uavcan_stm32::clock::getUtcRateCorrectionPPM()),
+			       uavcan_stm32::clock::getUtcJumpCount(),
+			       int(uavcan_stm32::clock::isUtcLocked()));
+		}
+
+	}
+
+	teardown();
+	warnx("exiting.");
+
+	exit(0);
+}
+
+int
+UavcanNode::teardown()
+{
+	return 0;
+}
+
+
+
+int
+UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
+{
+	int ret = OK;
+
+	lock();
+
+	switch (cmd) {
+
+
+
+	default:
+		ret = -ENOTTY;
+		break;
+	}
+
+	unlock();
+
+	if (ret == -ENOTTY) {
+		ret = CDev::ioctl(filp, cmd, arg);
+	}
+
+	return ret;
+}
+
+void
+UavcanNode::print_info()
+{
+	if (!_instance) {
+		warnx("not running, start first");
+	}
+
+	(void)pthread_mutex_lock(&_node_mutex);
+
+
+	(void)pthread_mutex_unlock(&_node_mutex);
+}
+
+/*
+ * App entry point
+ */
+static void print_usage()
+{
+	warnx("usage: \n"
+	      "\tuavcannode {start|status|stop|arm|disarm}");
+}
+
+extern "C" __EXPORT int uavcannode_start(int argc, char *argv[]);
+
+int uavcannode_start(int argc, char *argv[])
+{
+	resources("Before board_app_initialize");
+
+	board_app_initialize(NULL);
+
+	resources("After board_app_initialize");
+
+	// CAN bitrate
+	int32_t bitrate = 0;
+	// Node ID
+	int32_t node_id = 0;
+
+	// Did the bootloader auto baud and get a node ID Allocated
+
+	bootloader_app_shared_t shared;
+	int valid  = bootloader_app_shared_read(&shared, BootLoader);
+
+	if (valid == 0) {
+
+		bitrate = shared.bus_speed;
+		node_id = shared.node_id;
+
+		// Invalidate to prevent deja vu
+
+		bootloader_app_shared_invalidate();
+
+	} else {
+
+		// Node ID
+		(void)param_get(param_find("CANNODE_NODE_ID"), &node_id);
+		(void)param_get(param_find("CANNODE_BITRATE"), &bitrate);
+	}
+
+	if (node_id < 0 || node_id > uavcan::NodeID::Max || !uavcan::NodeID(node_id).isUnicast()) {
+		warnx("Invalid Node ID %i", node_id);
+		::exit(1);
+	}
+
+	// Start
+	warnx("Node ID %u, bitrate %u", node_id, bitrate);
+	int rv = UavcanNode::start(node_id, bitrate);
+	resources("After UavcanNode::start");
+	::sleep(1);
+	return rv;
+}
+
+extern "C" __EXPORT int uavcannode_main(int argc, char *argv[]);
+int uavcannode_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		print_usage();
+		::exit(1);
+	}
+
+	if (!std::strcmp(argv[1], "start")) {
+
+		if (UavcanNode::instance()) {
+			errx(1, "already started");
+		}
+
+		return uavcannode_start(argc, argv);
+	}
+
+	/* commands below require the app to be started */
+	UavcanNode *const inst = UavcanNode::instance();
+
+	if (!inst) {
+		errx(1, "application not running");
+	}
+
+	if (!std::strcmp(argv[1], "status") || !std::strcmp(argv[1], "info")) {
+		inst->print_info();
+		::exit(0);
+	}
+
+	if (!std::strcmp(argv[1], "stop")) {
+		delete inst;
+		::exit(0);
+	}
+
+	print_usage();
+	::exit(1);
+}