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PX4-Autopilot/src/drivers/bootloaders/include/uavcan.h
T
David Sidrane c417a1be7b Adding USVCAN bootloader support
2016-12-21 08:34:20 +01:00

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30 KiB
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/****************************************************************************
*
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
* Author: Ben Dyer <ben_dyer@mac.com>
* Pavel Kirienko <pavel.kirienko@zubax.com>
* David Sidrane <david_s5@nscdg.com>
*
* 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.
*
****************************************************************************/
#pragma once
/*
* Uavcan protocol CAN ID formats and Tail byte component definitions
*
* Most all the constants below are auto generated by the compiler in the
* section above.
* For all UAVCAN_BIT_DEFINE({item name}, lsb_pos, length) entries
* it defines the following enumeration constants:
*
* Mask{item name} - The mask that is positioned at the lsb and
* length long
* BitPos{item name} - The bit position of the lsb
* Length{item name} - The number of bits in the field
*
*
* For the UAVCAN_DSDL_TYPE_DEF(name, dtid, service, signature, packsize,
* mailbox, fifo, inbound, outbound)
* it defines:
*
* uavcan dtid definitions are in the form nnnn.type_name.uavcan
*
* DSDL{type_name} - An internal zero based ID for the transfer
* format E.G DSDLNodeInfo would return the internal
* constant index derived from the line that
* UAVCAN_DSDL_TYPE_DEF(GetNodeInfo... is defined on
* in uavcan_dsdl_defs.h (as of this writing it would
* be the value 1)
*
* DTID{type_name} - The uavcan Number nnn.name E.G DTIDNodeInfo
*
* ServiceNotMessage{type_name} - True for DTID that are uavcan Services Type
* Defined Transfer Type
*
* SignatureCRC16{type_name} - Required for multi-frame Transfer Type
*
* PackedSize{type_name} - The packed size of the Transfer Type
*
* MailBox{type_name} - When sending this Transfer Type, use this
* mailbox
*
* Fifo{type_name} - When receiving this Transfer Type, use this
* fifo. - Filers need to be configured
*
* Fifo{type_name} - The uavcan Number nnn.name E.G DTIDNodeInfo
*
* InTailInit{type_name} - The value of the tail byte to expect at
* the end of a transfer
*
* OutTailInit{type_name} - The value of the tail byte to to use when
* sending this transfer
*
* For all UAVCAN_DSDL_BIT_DEF(data_typ_name, field_name, lsb_pos, length, payload_offset, payload_length)
* it defines the following enumeration constants:
*
* Mask{item name} - The mask that is positioned at the lsb and
* length long
* BitPos{item name} - The bit position of the lsb
* Length{item name} - The number of bits in the field
* PayloadOffset{<name><field_name>} - The offset in the payload
* PayloadLength{<name><field_name>} - The number of bytes
*
*/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/compiler.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>
#include "bitminip.h"
#include "can.h"
#include "px4_macros.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define sizeof_member(t, m) sizeof(((t *)0)->m)
#define UAVCAN_STRLEN(x) sizeof((x))-1
#define uavcan_exclude(x, name) BITFEILD_EXCLUDE((x), BitPos##name,Length##name)
#define uavcan_make_uint16(d0, d1) (uint16_t)(((d1) << 8u) | (d0))
#define uavcan_dsdl_field(op, data_typ_name, field_name) (op##data_typ_name##field_name)
#define uavcan_bit_pos(data_typ_name, field_name) uavcan_dsdl_field(BitPos, data_typ_name, field_name)
#define uavcan_bit_mask(data_typ_name, field_name) uavcan_dsdl_field(Mask, data_typ_name, field_name)
#define uavcan_bit_count(data_typ_name, field_name) uavcan_dsdl_field(Length, data_typ_name, field_name)
#define uavcan_byte_offset(data_typ_name, field_name) uavcan_dsdl_field(PayloadOffset, data_typ_name, field_name)
#define uavcan_byte_count(data_typ_name, field_name) uavcan_dsdl_field(PayloadLength, data_typ_name, field_name)
#define uavcan_pack(d, data_typ_name, field_name) \
(((d) << uavcan_bit_pos(data_typ_name, field_name)) & uavcan_bit_mask(data_typ_name, field_name))
#define uavcan_ppack(d, data_typ_name, field_name) uavcan_pack(d->field_name, data_typ_name, field_name)
#define uavcan_rpack(d, data_typ_name, field_name) uavcan_pack(d.field_name, data_typ_name, field_name)
#define uavcan_unpack(d, data_typ_name, field_name) \
(((d) & uavcan_bit_mask(data_typ_name, field_name)) >> uavcan_bit_pos(data_typ_name, field_name))
#define uavcan_punpack(d, data_typ_name, field_name) uavcan_unpack(d->field_name, data_typ_name, field_name)
#define uavcan_runpack(d, data_typ_name, field_name) uavcan_unpack(d.field_name, data_typ_name, field_name)
#define uavcan_protocol_mask(field_name) (Mask##field_name)
/****************************************************************************
* Auto Generated Public Type Definitions
****************************************************************************/
/* CAN ID fields */
#define UAVCAN_BIT_DEFINE(field_name, lsb_pos, length) Mask##field_name = BITFEILD_MASK((lsb_pos), (length)),
typedef enum uavcan_can_id_mask_t {
#include "uavcan_can_id_defs.h"
} uavcan_can_id_mask_t;
#undef UAVCAN_BIT_DEFINE
#define UAVCAN_BIT_DEFINE(field_name, lsb_pos, length) BitPos##field_name = (lsb_pos),
typedef enum uavcan_can_id_pos_t {
#include "uavcan_can_id_defs.h"
} uavcan_can_id_pos_t;
#undef UAVCAN_BIT_DEFINE
#define UAVCAN_BIT_DEFINE(field_name, lsb_pos, length) Length##field_name = (length),
typedef enum uavcan_can_id_length_t {
#include "uavcan_can_id_defs.h"
} uavcan_can_id_length_t;
#undef UAVCAN_BIT_DEFINE
/****************************************************************************
* Public Type Definitions
****************************************************************************/
typedef enum uavcan_direction_t {
InBound = true,
OutBound = false,
MessageIn = InBound,
MessageOut = OutBound,
} uavcan_direction_t;
/*
* Uavcan protocol CAN ID formats and Tail byte component definitions
*
* Most all the constants below are auto generated by the compiler in the
* section above.
* It defines Mask{item name}, BitPos{item name} and Length{item name}
* for all UAVCAN_BIT_DEFINE({item name}, lsb_pos, length) entries
*
* [CAN ID[4]][data[0-7][tail[1]]]
*
*/
/* General UAVCAN Constants */
typedef enum uavcan_general_t {
UavcanPriorityMax = 0,
UavcanPriorityMin = 31,
} uavcan_general_t;
/* CAN ID definitions for native data manipulation */
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wattributes"
#pragma GCC diagnostic ignored "-Wpacked"
typedef struct packed_struct can_id_t {
union {
uint32_t u32;
uint8_t b[sizeof(uint32_t)];
};
} can_id_t;
/* UAVCAN CAN ID Usage: Message definition */
typedef struct uavcan_message_t {
uint32_t source_node_id : LengthUavCanMessageSourceNodeID;
uint32_t service_not_message : LengthUavCanMessageServiceNotMessage;
uint32_t type_id : LengthUavCanMessageTypeID;
uint32_t priority : LengthUavCanMessagePriority;
} uavcan_message_t;
/* UAVCAN CAN ID Usage: Anonymous Message Constants */
typedef enum uavcan_anon_const_t {
UavcanAnonymousNodeID = 0,
} uavcan_anon_const_t;
/* UAVCAN CAN ID Usage: Anonymous Message definition */
typedef struct uavcan_anonymous_message_t {
uint32_t source_node_id : LengthUavCanAnonMessageSourceNodeID;
uint32_t service_not_message : LengthUavCanAnonMessageServiceNotMessage;
uint32_t type_id : LengthUavCanAnonMessageTypeID;
uint32_t discriminator : LengthUavCanAnonMessageDiscriminator;
uint32_t priority : LengthUavCanAnonMessagePriority;
} uavcan_anonymous_message_t;
/* UAVCAN CAN ID Usage: Service Constants */
typedef enum uavcan_service_const_t {
UavcanServiceRetries = 3,
UavcanServiceTimeOutMs = 1000,
} uavcan_service_const_t;
/* UAVCAN CAN ID Usage: Service definition */
typedef struct uavcan_service_t {
uint32_t source_node_id : LengthUavCanServiceSourceNodeID;
uint32_t service_not_message : LengthUavCanServiceServiceNotMessage;
uint32_t dest_node_id : LengthUavCanServiceDestinationNodeID;
uint32_t request_not_response : LengthUavCanServiceRequestNotResponse;
uint32_t type_id : LengthUavCanServiceTypeID;
uint32_t priority : LengthUavCanServicePriority;
} uavcan_service_t;
/* UAVCAN Tail Byte definitions for native data manipulation */
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wpacked"
typedef struct packed_struct can_tail_t {
union {
uint8_t u8;
};
} can_tail_t;
#pragma GCC diagnostic pop
/* UAVCAN Tail Byte definitions */
typedef struct uavcan_tail_t {
uint8_t transfer_id : LengthUavCanTransferID;
uint8_t toggle : LengthUavCanToggle;
uint8_t eot : LengthUavCanEndOfTransfer;
uint8_t sot : LengthUavCanStartOfTransfer;
} uavcan_tail_t;
/* UAVCAN Tail Byte Initialization constants */
typedef enum uavcan_tail_init_t {
SingleFrameTailInit = (MaskUavCanStartOfTransfer | MaskUavCanEndOfTransfer),
MultiFrameTailInit = (MaskUavCanStartOfTransfer),
BadTailState = (MaskUavCanStartOfTransfer | MaskUavCanToggle),
MaxUserPayloadLength = CanPayloadLength - sizeof(uavcan_tail_t),
} uavcan_tail_init_t;
/*
* Assert that assumptions in code are true
* The code assumes it can manipulate a ALL sub protocol objects
* using MaskUavCanMessageServiceNotMessage, MaskUavCanMessagePriority
* and MaskUavCanMessageSourceNodeID
*/
CCASSERT(MaskUavCanServicePriority == MaskUavCanAnonMessagePriority);
CCASSERT(MaskUavCanServicePriority == MaskUavCanMessagePriority);
CCASSERT(MaskUavCanServiceSourceNodeID == MaskUavCanAnonMessageSourceNodeID);
CCASSERT(MaskUavCanServiceSourceNodeID == MaskUavCanMessageSourceNodeID);
CCASSERT(MaskUavCanMessageServiceNotMessage == MaskUavCanAnonMessageServiceNotMessage);
CCASSERT(MaskUavCanMessageServiceNotMessage == MaskUavCanMessageServiceNotMessage);
/****************************************************************************
* Auto Generated Public Type Definitions
****************************************************************************/
/* UAVCAN DSDL Type Definitions*/
#define NA 0
#define UAVCAN_DSDL_BIT_DEF(data_typ_name, field_name, lsb_pos, length, payload_offset, payload_length)
#define UAVCAN_DSDL_MESG_DEF(name, dtid, signature, packsize, mailbox, fifo, inbound, outbound) \
UAVCAN_DSDL_TYPE_DEF(Msg##name, (dtid), (signature), (packsize), (mailbox), (fifo), (inbound), (outbound))
#define UAVCAN_DSDL_SREQ_DEF(name, dtid, signature, packsize, mailbox, fifo, inbound, outbound) \
UAVCAN_DSDL_TYPE_DEF(Req##name, (dtid), (signature), (packsize), (mailbox), (fifo), (inbound), (outbound))
#define UAVCAN_DSDL_SRSP_DEF(name, dtid, signature, packsize, mailbox, fifo, inbound, outbound) \
UAVCAN_DSDL_TYPE_DEF(Rsp##name, (dtid), (signature), (packsize), (mailbox), (fifo), (inbound), (outbound))
#define END_COMPONENTS SizeDSDLComponents,
#define UAVCAN_DSDL_TYPE_DEF(name, dtid, signature, packsize, mailbox, fifo, inbound, outbound) \
DSDL##name,
typedef enum uavcan_dsdl_t {
#include "uavcan_dsdl_defs.h"
SizeDSDL,
} uavcan_dsdl_t;
#undef UAVCAN_DSDL_TYPE_DEF
#undef END_COMPONENTS
#define END_COMPONENTS
#define UAVCAN_DSDL_BIT_DEF(data_typ_name, field_name, lsb_pos, length, payload_offset, payload_length)
#define UAVCAN_DSDL_TYPE_DEF(name, dtid, signature, packsize, mailbox, fifo, inbound, outbound) \
DTID##name = (dtid),
typedef enum uavcan_dsdl_dtid_t {
#include "uavcan_dsdl_defs.h"
} uavcan_dsdl_dtid_t;
#undef UAVCAN_DSDL_TYPE_DEF
#define UAVCAN_DSDL_TYPE_DEF(name, dtid, signature, packsize, mailbox, fifo, inbound, outbound) \
SignatureCRC16##name = (signature),
typedef enum uavcan_dsdl_sig_crc16_t {
#include "uavcan_dsdl_defs.h"
} uavcan_dsdl_sig_crc16_t;
#undef UAVCAN_DSDL_TYPE_DEF
#define UAVCAN_DSDL_TYPE_DEF(name, dtid, signature, packsize, mailbox, fifo, inbound, outbound) \
PackedSize##name = (packsize),
typedef enum uavcan_dsdl_packedsize_t {
#include "uavcan_dsdl_defs.h"
} uavcan_dsdl_packedsize_t;
#undef UAVCAN_DSDL_TYPE_DEF
#define UAVCAN_DSDL_TYPE_DEF(name, dtid, signature, packsize, mailbox, fifo, inbound, outbound) \
MailBox##name = (mailbox),
typedef enum uavcan_dsdl_mb_t {
#include "uavcan_dsdl_defs.h"
} uavcan_dsdl_mb_t;
#undef UAVCAN_DSDL_TYPE_DEF
#define UAVCAN_DSDL_TYPE_DEF(name, dtid, signature, packsize, mailbox, fifo, inbound, outbound) \
Fifo##name = (fifo),
typedef enum uavcan_dsdl_fifo_t {
#include "uavcan_dsdl_defs.h"
} uavcan_dsdl_fifo_t;
#undef UAVCAN_DSDL_TYPE_DEF
#define UAVCAN_DSDL_TYPE_DEF(name, dtid, signature, packsize, mailbox, fifo, inbound, outbound) \
InTailInit##name = (inbound),
typedef enum uavcan_dsdl_inbound_t {
#include "uavcan_dsdl_defs.h"
} uavcan_dsdl_inbound_t;
#undef UAVCAN_DSDL_TYPE_DEF
#define UAVCAN_DSDL_TYPE_DEF(name, dtid, signature, packsize, mailbox, fifo, inbound, outbound) \
OutTailInit##name = (outbound),
typedef enum uavcan_dsdl_outbound_t {
#include "uavcan_dsdl_defs.h"
} uavcan_dsdl_outbound_t;
#undef UAVCAN_DSDL_TYPE_DEF
#undef UAVCAN_DSDL_SRSP_DEF
#undef UAVCAN_DSDL_SREQ_DEF
#undef UAVCAN_DSDL_MESG_DEF
#undef UAVCAN_DSDL_BIT_DEF
/* UAVCAN DSDL Fields of Type Definitions definitions*/
#define UAVCAN_DSDL_TYPE_DEF(name, dtid, signature, packsize, mailbox, fifo, inbound, outbound)
#define UAVCAN_DSDL_MESG_DEF(name, dtid, signature, packsize, mailbox, fifo, inbound, outbound)
#define UAVCAN_DSDL_SREQ_DEF(name, dtid, signature, packsize, mailbox, fifo, inbound, outbound)
#define UAVCAN_DSDL_SRSP_DEF(name, dtid, signature, packsize, mailbox, fifo, inbound, outbound)
#define UAVCAN_DSDL_BIT_DEF(data_typ_name, field_name, lsb_pos, length, payload_offset, payload_length) \
Mask##data_typ_name##field_name = BITFEILD_MASK((lsb_pos), (length)),
typedef enum uavcan_dsdl_mask_t {
#include "uavcan_dsdl_defs.h"
} uavcan_dsdl_mask_t;
#undef UAVCAN_DSDL_BIT_DEF
#define UAVCAN_DSDL_BIT_DEF(data_typ_name, field_name, lsb_pos, length, payload_offset, payload_length) \
BitPos##data_typ_name##field_name = (lsb_pos),
typedef enum uavcan_dsdl_pos_t {
#include "uavcan_dsdl_defs.h"
} uavcan_dsdl_pos_t;
#undef UAVCAN_DSDL_BIT_DEF
#define UAVCAN_DSDL_BIT_DEF(data_typ_name, field_name, lsb_pos, length, payload_offset, payload_length) \
Length##data_typ_name##field_name = (length),
typedef enum uavcan_dsdl_length_t {
#include "uavcan_dsdl_defs.h"
} uavcan_dsdl_length_t;
#undef UAVCAN_DSDL_BIT_DEF
#define UAVCAN_DSDL_BIT_DEF(data_typ_name, field_name, lsb_pos, length, payload_offset, payload_length) \
PayloadOffset##data_typ_name##field_name = (payload_offset),
typedef enum uavcan_dsdl_payload_offset_t {
#include "uavcan_dsdl_defs.h"
} uavcan_dsdl_payload_offset_t;
#undef UAVCAN_DSDL_BIT_DEF
#define UAVCAN_DSDL_BIT_DEF(data_typ_name, field_name, lsb_pos, length, payload_offset, payload_length) \
PayloadLength##data_typ_name##field_name = (payload_length),
typedef enum uavcan_dsdl_payload_length_t {
#include "uavcan_dsdl_defs.h"
} uavcan_dsdl_payload_length_t;
#undef UAVCAN_DSDL_TYPE_DEF
#undef UAVCAN_DSDL_SRSP_DEF
#undef UAVCAN_DSDL_SREQ_DEF
#undef UAVCAN_DSDL_MESG_DEF
#undef UAVCAN_DSDL_BIT_DEF
#undef END_COMPONENTS
#undef NA
/****************************************************************************
* Public Type Definitions
****************************************************************************/
/* Uavcan function return values */
typedef enum uavcan_error_t {
UavcanOk = 0,
UavcanBootTimeout = 1,
UavcanError = 3
} uavcan_error_t;
/*
* Uavcan protocol CAN ID formats and Tail byte
*
* [CAN ID[4]][data[0-7][tail[1]]]
*
*/
typedef struct packed_struct uavcan_protocol_t {
union {
can_id_t id;
uavcan_message_t msg;
uavcan_anonymous_message_t ana;
uavcan_service_t ser;
};
union {
can_tail_t tail_init;
uavcan_tail_t tail;
};
} uavcan_protocol_t;
/*
* Uavcan protocol DSDL Type Definitions
*/
/****************************************
* Uavcan NodeStatus
****************************************/
typedef enum uavcan_NodeStatusConsts_t {
MAX_BROADCASTING_PERIOD_MS = 1000,
MIN_BROADCASTING_PERIOD_MS = 2,
OFFLINE_TIMEOUT_MS = 2000,
HEALTH_OK = 0,
HEALTH_WARNING = 1,
HEALTH_ERROR = 2,
HEALTH_CRITICAL = 3,
MODE_OPERATIONAL = 0,
MODE_INITIALIZATION = 1,
MODE_MAINTENANCE = 2,
MODE_SOFTWARE_UPDATE = 3,
MODE_OFFLINE = 7,
} uavcan_NodeStatusConsts_t;
typedef struct packed_struct uavcan_NodeStatus_t {
uint32_t uptime_sec;
union {
uint8_t u8;
struct {
uint8_t sub_mode: LengthNodeStatussub_mode;
uint8_t mode : LengthNodeStatusmode;
uint8_t health : LengthNodeStatushealth;
};
};
uint16_t vendor_specific_status_code;
} uavcan_NodeStatus_t;
/****************************************
* Uavcan GetNodeInfo composition
****************************************/
/* SoftwareVersion */
typedef enum uavcan_SoftwareVersionConsts_t {
OPTIONAL_FIELD_FLAG_VCS_COMMIT = 1,
OPTIONAL_FIELD_FLAG_IMAGE_CRC = 2,
} uavcan_SoftwareVersionConsts_t;
typedef struct packed_struct uavcan_SoftwareVersion_t {
uint8_t major;
uint8_t minor;
uint8_t optional_field_flags;
uint32_t vcs_commit;
uint64_t image_crc;
} uavcan_SoftwareVersion_t;
CCASSERT(PackedSizeSoftwareVersion == sizeof(uavcan_SoftwareVersion_t));
/* HardwareVersion */
typedef struct packed_struct uavcan_HardwareVersion_t {
uint8_t major;
uint8_t minor;
uint8_t unique_id[PayloadLengthHardwareVersionunique_id];
uint8_t certificate_of_authenticity_length;
uint8_t certificate_of_authenticity[PayloadLengthHardwareVersioncertificate_of_authenticity];
} uavcan_HardwareVersion_t;
typedef enum uavcan_HardwareVersionConsts_t {
FixedSizeHardwareVersion = sizeof_member(uavcan_HardwareVersion_t, major) + \
sizeof_member(uavcan_HardwareVersion_t, minor) + \
sizeof_member(uavcan_HardwareVersion_t, unique_id) + \
sizeof_member(uavcan_HardwareVersion_t, certificate_of_authenticity_length),
} uavcan_HardwareVersionConsts_t;
typedef struct packed_struct uavcan_GetNodeInfo_request_t {
uint8_t empty[CanPayloadLength];
} uavcan_GetNodeInfo_request_t;
/* GetNodeInfo Response */
typedef struct packed_struct uavcan_GetNodeInfo_response_t {
uavcan_NodeStatus_t nodes_status;;
uavcan_SoftwareVersion_t software_version;
uavcan_HardwareVersion_t hardware_version;
uint8_t name[PayloadLengthGetNodeInfoname];
uint8_t name_length;
} uavcan_GetNodeInfo_response_t;
typedef enum uavcan_GetNodeInfoConsts_t {
FixedSizeGetNodeInfo = PackedSizeMsgNodeStatus + PackedSizeSoftwareVersion + FixedSizeHardwareVersion,
} uavcan_GetNodeInfoConsts_t;
/****************************************
* Uavcan LogMessage
****************************************/
typedef enum uavcan_LogMessageConsts_t {
LOGMESSAGE_LEVELDEBUG = 0,
LOGMESSAGE_LEVELINFO = 1,
LOGMESSAGE_LEVELWARNING = 2,
LOGMESSAGE_LEVELERROR = 3,
} uavcan_LogMessageConsts_t;
typedef struct packed_struct uavcan_LogMessage_t {
uint8_t level;
uint8_t source[uavcan_byte_count(LogMessage, source)];
uint8_t text[uavcan_byte_count(LogMessage, text)];
} uavcan_LogMessage_t;
CCASSERT(sizeof(uavcan_LogMessage_t) == PackedSizeMsgLogMessage);
/****************************************
* Uavcan Allocation
****************************************/
typedef enum uavcan_AllocationConsts_t {
MAX_REQUEST_PERIOD_MS = 1400,
MIN_REQUEST_PERIOD_MS = 600,
MAX_FOLLOWUP_DELAY_MS = 400,
MIN_FOLLOWUP_DELAY_MS = 0,
FOLLOWUP_TIMEOUT_MS = 500,
MAX_LENGTH_OF_UNIQUE_ID_IN_REQUEST = 6,
ANY_NODE_ID = 0,
PriorityAllocation = UavcanPriorityMin - 1,
} uavcan_AllocationConsts_t;
typedef struct packed_struct uavcan_Allocation_t {
uint8_t node_id; /* bottom bit is the first part flag */
uint8_t unique_id[PayloadLengthAllocationunique_id];
} uavcan_Allocation_t;
/****************************************
* Uavcan Path
****************************************/
typedef struct packed_struct uavcan_Path_t {
uint8_t u8[PayloadLengthPathpath];
} uavcan_Path_t;
typedef enum uavcan_PathConst_t {
SEPARATOR = '/',
} uavcan_PathConst_t;
/****************************************
* Uavcan GetInfo Composition
****************************************/
typedef enum uavcan_ErrorConst_t {
FILE_ERROR_OK = 0,
FILE_ERROR_UNKNOWN_ERROR = 32767,
FILE_ERROR_NOT_FOUND = 2,
FILE_ERROR_IO_ERROR = 5,
FILE_ERROR_ACCESS_DENIED = 13,
FILE_ERROR_IS_DIRECTORY = 21,
FILE_ERROR_INVALID_VALUE = 22,
FILE_ERROR_FILE_TOO_LARGE = 27,
FILE_ERROR_OUT_OF_SPACE = 28,
FILE_ERROR_NOT_IMPLEMENTED = 38,
} uavcan_ErrorConst_t;
typedef struct packed_struct uavcan_Error_t {
uint16_t value;
} uavcan_Error_t;
typedef enum uavcan_EntryTypeConst_t {
ENTRY_TYPE_FLAG_FILE = 1,
ENTRY_TYPE_FLAG_DIRECTORY = 2,
ENTRY_TYPE_FLAG_SYMLINK = 4,
ENTRY_TYPE_FLAG_READABLE = 8,
ENTRY_TYPE_FLAG_WRITEABLE = 16,
} uavcan_EntryTypeConst_t;
typedef struct packed_struct uavcan_EntryType_t {
uint8_t flags;
} uavcan_EntryType_t;
/****************************************
* Uavcan BeginFirmwareUpdate
****************************************/
typedef enum uavcan_BeginFirmwareUpdateConst_t {
ERROR_OK = 0,
ERROR_INVALID_MODE = 1,
ERROR_IN_PROGRESS = 2,
ERROR_UNKNOWN = 255,
} uavcan_BeginFirmwareUpdateConst_t;
typedef struct packed_struct uavcan_BeginFirmwareUpdate_request {
uint8_t source_node_id;
uavcan_Path_t image_file_remote_path;
} uavcan_BeginFirmwareUpdate_request;
typedef struct packed_struct uavcan_BeginFirmwareUpdate_response {
uint8_t error;
} uavcan_BeginFirmwareUpdate_response;
/****************************************
* Uavcan GetInfo
****************************************/
typedef struct packed_struct uavcan_GetInfo_request_t {
uavcan_Path_t path;
} uavcan_GetInfo_request_t;
typedef enum uavcan_GetInfo_requestConst_t {
FixedSizeGetInfoRequest = 0,
} uavcan_GetInfo_requestConst_t;
typedef struct packed_struct uavcan_GetInfo_response_t {
uint32_t size;
uint8_t msbsize;
uavcan_Error_t error;
uavcan_EntryType_t entry_type;
} uavcan_GetInfo_response_t;
/****************************************
* Uavcan Read Composition
****************************************/
typedef struct packed_struct uavcan_Read_request_t {
uint32_t offset;
uint8_t msboffset;
uavcan_Path_t path;
} uavcan_Read_request_t;
typedef enum uavcan_ReadRequestConsts_t {
FixedSizeReadRequest = sizeof_member(uavcan_Read_request_t, offset) + \
sizeof_member(uavcan_Read_request_t, msboffset),
} uavcan_ReadRequestConsts_t;
typedef struct packed_struct uavcan_Read_response_t {
uavcan_Error_t error;
uint8_t data[PayloadLengthReaddata];
} uavcan_Read_response_t;
/****************************************************************************
* Global Variables
****************************************************************************/
extern uint8_t g_this_node_id;
extern uint8_t g_server_node_id;
extern uint8_t g_uavcan_priority;
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
/****************************************************************************
* Name: uavcan_pack_GetNodeInfo_response
*
* Description:
* This function packs the data of a uavcan_NodeStatus_t into
* a uavcan_GetNodeInfo_response_t structure as array of bytes.
* Then it packs the uavcan_GetNodeInfo_response_t
*
* Input Parameters:
* response The uavcan_GetNodeInfo_response_t to be packed
* node_status - The uavcan_NodeStatus_t that is part of the composition
*
* Returned value:
* Number of bytes written.
*
****************************************************************************/
size_t uavcan_pack_GetNodeInfo_response(uavcan_GetNodeInfo_response_t
*response);
/****************************************************************************
* Name: uavcan_tx_dsdl
*
* Description:
* This helper function sends a uavcan service protocol, it
* assumes the protocol object has the destination node id set.
*
* Input Parameters:
* dsdl - An Uavcan DSDL Identifier (Auto Generated)
* protocol - A pointer to a uavcan_protocol_t to configure the send,
* the transfer with the dest_node_id set to that of the
* node we are making the request of.
* transfer - A pointer to the packed data of the transfer to be sent.
* length - The number of bytes of data
*
* Returned value:
* The UavcanOk of the data sent. Anything else indicates if a timeout
* occurred.
*
****************************************************************************/
uavcan_error_t uavcan_tx_dsdl(uavcan_dsdl_t dsdl, uavcan_protocol_t *protocol,
const uint8_t *transfer, size_t transfer_length);
/****************************************************************************
* Name: uavcan_rx_dsdl
*
* Description:
* This function receives a uavcan Service response protocol transfer
*
* Input Parameters:
* dsdl - An Uavcan DSDL Identifier (Auto Generated)
* protocol - A pointer to a uavcan_protocol_t to configure the receive,
* based the dsdl for the DTID Service.
* If the request must come from a specific server
* then protocol->ser.source_node_id, should be set
* to that node id;
*
* in_out_transfer_length - The number of bytes of data to receive and the
* number received.
* timeout_ms - The amount of time in mS to wait for the initial transfer
*
* Returned value:
* None
*
****************************************************************************/
uavcan_error_t uavcan_rx_dsdl(uavcan_dsdl_t dsdl, uavcan_protocol_t *protocol,
uint8_t *transfer, size_t *in_out_transfer_length,
uint32_t timeout_ms);
/****************************************************************************
* Name: uavcan_tx_log_message
*
* Description:
* This functions sends uavcan LogMessage type data. The Source will be
* taken from the application defined debug_log_source
*
* Input Parameters:
* level - Log Level of the LogMessage Constants DEBUG, INFO, WARN, ERROR
* stage - The Stage the application is at. see Aplication defined
* LOGMESSAGE_STAGE_x
* status - The status of that stage. See Application defined
* LOGMESSAGE_RESULT_x
*
* Returned Value:
* None
*
****************************************************************************/
/* The application must define this */
extern const uint8_t debug_log_source[uavcan_byte_count(LogMessage, source)];
void uavcan_tx_log_message(uavcan_LogMessageConsts_t level, uint8_t stage,
uint8_t status);
/****************************************************************************
* Name: uavcan_tx_allocation_message
*
* Description:
* This function sends a uavcan allocation message.
*
* Input Parameters:
* requested_node_id - This node's preferred node id 0 for no preference.
* unique_id_length - This node's length of it's unique identifier.
* unique_id - A pointer to the bytes that represent unique
* identifier.
* unique_id_offset - The offset equal 0 or the number of bytes in the
* the last received message that matched the unique ID
* field.
* random - The value to use as the discriminator of the
* anonymous message
*
* Returned value:
* None
*
****************************************************************************/
void uavcan_tx_allocation_message(uint8_t requested_node_id,
size_t unique_id_length,
const uint8_t *unique_id,
uint8_t unique_id_offset,
uint16_t random);
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